頁籤選單縮合
題 名 | Pid Regulation of Robot Manipulators with Elastic Joints |
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作 者 | Alvarez-ramirez,Jose; Cervantes,Ilse; | 書刊名 | Asian Journal of Control |
卷 期 | 5:1 2003.03[民92.03] |
頁 次 | 頁32-38 |
分類號 | 448.94 |
關鍵詞 | Elastic joints robots; PID control; Semiglobal stability; Uncertain gravity torques; Uncertain stiffness parameters; |
語 文 | 英文(English) |
英文摘要 | This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD action on the rotor position and an integral control action on the link position suffice to provide semiglobal asymptotic stability of the desired link position. |
本系統中英文摘要資訊取自各篇刊載內容。