Saturated control without velocity measurements for planar robots with flexible joints

T. C. Wesselink; P. Borja; J. M. A. Scherpen

doi:10.1109/CDC40024.2019.9029741

Saturated control without velocity measurements for planar robots with flexible joints

Systems and Control 2020-11-24 v2

Authors: T. C. Wesselink , P. Borja , J. M. A. Scherpen

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Abstract

In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements. Additionally, we present experiments that corroborate the theoretical results of this note.

Keywords

passivity-based control saturated control planar robots flexible joints set point regulation velocity-free control

Cite

@article{arxiv.1812.08257,
  title  = {Saturated control without velocity measurements for planar robots with flexible joints},
  author = {T. C. Wesselink and P. Borja and J. M. A. Scherpen},
  journal= {arXiv preprint arXiv:1812.08257},
  year   = {2020}
}

Comments

9 figures, 3 tables. A short version of this paper was presented at the 58th Conference on Decision and Control (2019)

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