OTHER
RESPONSE CHARACTERISTICS OF ELASTIC JOINT ROBOTS DRIVEN BY VARIOUS TYPES OF CONTROLLERS AGAINST EXTERNAL DISTURBANCES
Ryuta Ozawa, Hiroaki Kobayashi
- Year
- 2002
- Citations
- 7
- Access
- Open access
Abstract
The purpose of this paper is to investigate behaviors of elastic joint robots driven by various types of controllers against external disturbances applied to them. The elasticity is introduced intentionally by installing elastic devises in their transmission. We consider about four types of controllers. commonly used to control elastic joint robots. We investigate the role of the compliance introduced by the mechanism and the controllers and show numerical simulations.
Keywords
RobotElasticity (physics)Joint (building)Control theory (sociology)Computer scienceMechanism (biology)Control engineeringControl (management)EngineeringStructural engineering
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