The DOI matches its Crossref record; 6 of the 6 references it cites were found in a registry or an index.
A simple PD controller for robots with elastic joints
Abstract
The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented.>
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Cites
Hahn, W. (1967) · Springer eBooks · doi:10.1007/978-3-642-50085-5 · Cited by 2,754
On the Adaptive Control of Robot Manipulators
Slotine, J.-J. E., & Li, W. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600303 · Cited by 2,284
Modeling and Control of Elastic Joint Robots
Spong, M. W. (1987) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3143860 · Cited by 1,615
An integral manifold approach to the feedback control of flexible joint robots
Spong, M., Khorasani, K., & Kokotovic, P. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087102 · Cited by 452
Adaptive control of flexible joint manipulators
Spong, M. W. (1989) · Systems & Control Letters · doi:10.1016/0167-6911(89)90016-9 · Cited by 215
Control of robot arm with elastic joints via nonlinear dynamic feedback
Luca, A. D., Isidori, A., & Nicolò, F. (1985) · Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes · doi:10.1109/cdc.1985.268819 · Cited by 94
Cited by
Dynamic analysis of flexible manipulators, a literature review
Dwivedy, S. K., & Eberhard, P. (2006) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2006.01.014 · Cited by 870
A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots
Calanca, A., Muradore, R., & Fiorini, P. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2465849 · Cited by 320
PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments
De Luca, A., Siciliano, B., & Zollo, L. (2005) · Automatica · doi:10.1016/j.automatica.2005.05.009 · Cited by 280
Control of flexible joint robot system by backstepping design approach
Oh, J. H., & Lee, J. S. (2002) · Proceedings of International Conference on Robotics and Automation · doi:10.1109/robot.1997.606867 · Cited by 64
Metadata
- Authors
- Tomei, P.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1991
- Volume
- 36
- Issue
- 10
- Pages
- 1208-1213
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2068027769
- Cited by
- 548
- References
- 6
- FWCI
- 21.14
- Type
- journal article
- Language
- en
- Open access
- closed
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- Tomei, P. (1991). A simple PD controller for robots with elastic joints. IEEE Transactions on Automatic Control. https://doi.org/10.1109/9.90238
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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