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Pid Regulation Of Robot Manipulators With Elastic Joints |
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| Authors: | Jose Alvarez‐Ramirez Ilse Cervantes |
| Abstract: | 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. |
| Keywords: | Elastic joints robots PID control semiglobal stability uncertain gravity torques uncertain stiffness parameters |