Saturated control without velocity measurements for planar robots with flexible joints
arXiv:1812.082571.216 citationsh-index: 36
Originality Synthesis-oriented
AI Analysis
It addresses a practical control problem for robotic manipulators with flexible joints, but the solution is incremental and limited to a specific robot configuration.
The paper proposes a passivity-based saturated controller for set-point regulation of planar two-link robots with flexible joints, eliminating the need for velocity measurements. Experimental results validate the theoretical approach.
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.