Abstract
For the present paper, we developed an output feedback chattering position regulator for n-degrees-of-freedom (DOF) robot manipulators with elastic and frictional joints. The synthesized controller does not require manipulator position information, making it an attractive feature from the physical point of view. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations for a 2-DOF manipulator. To complement the results, an experimental study for an 1-DOF manipulator was made.
| Original language | English |
|---|---|
| Pages (from-to) | 17-22 |
| Number of pages | 6 |
| Journal | WSEAS Transactions on Circuits and Systems |
| Volume | 4 |
| Issue number | 1 |
| State | Published - Jan 2005 |
| Externally published | Yes |
Keywords
- Chattering control
- Coulomb friction
- Elastic joints
- Robot manipulators