A class of output feedback globally stabilizing controllers for flexible joints robots

Abstract

In this paper we characterize a class of passivity-based regulators for robot manipulators which, without assuming velocity measurement, aims at modifying the total energy of the closed loop and adding the required dissipation. The class is parametrized in terms of the desired closed loop total energy function, specified by the designer. We show that several apparently unrelated stabilizing output feedback regulators recently reported in the literature, are in fact particular cases of this class. Our results aim at providing a unified framework to compare different stabilizing schemes via analysis of their energy dissipation properties.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>