TY - GEN
T1 - On passivity-based control of a class of electrically driven robots
AU - Moreno-Valenzuela, Javier
AU - Campa, Ricardo
AU - Santibanez, Victor
PY - 2012
Y1 - 2012
N2 - In this paper, a class of robot manipulators actuated by direct current (DC) motors and servo amplifiers in current mode is studied. For those robots, it is assumed that the control inputs to the manipulator are the servo amplifier input voltages. A model-based trajectory tracking controller is developed, which renders the closed-loop system to be passive from an auxiliary control input to a filtered error signal. Experimental results support theoretical results.
AB - In this paper, a class of robot manipulators actuated by direct current (DC) motors and servo amplifiers in current mode is studied. For those robots, it is assumed that the control inputs to the manipulator are the servo amplifier input voltages. A model-based trajectory tracking controller is developed, which renders the closed-loop system to be passive from an auxiliary control input to a filtered error signal. Experimental results support theoretical results.
UR - http://www.scopus.com/inward/record.url?scp=84872945696&partnerID=8YFLogxK
U2 - 10.1109/IECON.2012.6389141
DO - 10.1109/IECON.2012.6389141
M3 - Contribución a la conferencia
AN - SCOPUS:84872945696
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2756
EP - 2761
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -