Abstract
This paper concerns a global stabilization control problem for a two-link underactuated robot moving in the vertical plane with a single actuator at the first joint and a spring between the two links (flexible elbow joint). Different from existing literature, we obtain the following results. First, we present a property about the angle of the first joint, the torque and the equilibrium configuration of the robot which is critical for the motion analysis of the robot in this paper. Second, we prove that when the spring constant is bigger than a mechanical parameter related to a coefficient of a gravitational term, the PD control on the angle of the first joint can globally stabilize the robot at the upright equilibrium point, where two links are in the upright position. Finally, we validate the presented theoretical results via numerical investigation.
| Original language | English |
|---|---|
| Title of host publication | Chinese Control Conference, CCC |
| Publisher | IEEE Computer Society |
| Pages | 1520-1525 |
| Number of pages | 6 |
| ISBN (Print) | 9789881563835 |
| Publication status | Published - Oct 18 2013 |
| Event | 32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: Jul 26 2013 → Jul 28 2013 |
Other
| Other | 32nd Chinese Control Conference, CCC 2013 |
|---|---|
| Country | China |
| City | Xi'an |
| Period | 7/26/13 → 7/28/13 |
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Keywords
- flexible joint
- Global stabilization
- PD control
- stability analysis
- underactuated robotic systems
ASJC Scopus subject areas
- Computer Science Applications
- Control and Systems Engineering
- Applied Mathematics
- Modelling and Simulation
Cite this
Global stabilization control for a two-link underactuated robot with a flexible elbow joint. / Xin, Xin; Liu, Yannian; Wu, Jinglong.
Chinese Control Conference, CCC. IEEE Computer Society, 2013. p. 1520-1525 6639668.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Global stabilization control for a two-link underactuated robot with a flexible elbow joint
AU - Xin, Xin
AU - Liu, Yannian
AU - Wu, Jinglong
PY - 2013/10/18
Y1 - 2013/10/18
N2 - This paper concerns a global stabilization control problem for a two-link underactuated robot moving in the vertical plane with a single actuator at the first joint and a spring between the two links (flexible elbow joint). Different from existing literature, we obtain the following results. First, we present a property about the angle of the first joint, the torque and the equilibrium configuration of the robot which is critical for the motion analysis of the robot in this paper. Second, we prove that when the spring constant is bigger than a mechanical parameter related to a coefficient of a gravitational term, the PD control on the angle of the first joint can globally stabilize the robot at the upright equilibrium point, where two links are in the upright position. Finally, we validate the presented theoretical results via numerical investigation.
AB - This paper concerns a global stabilization control problem for a two-link underactuated robot moving in the vertical plane with a single actuator at the first joint and a spring between the two links (flexible elbow joint). Different from existing literature, we obtain the following results. First, we present a property about the angle of the first joint, the torque and the equilibrium configuration of the robot which is critical for the motion analysis of the robot in this paper. Second, we prove that when the spring constant is bigger than a mechanical parameter related to a coefficient of a gravitational term, the PD control on the angle of the first joint can globally stabilize the robot at the upright equilibrium point, where two links are in the upright position. Finally, we validate the presented theoretical results via numerical investigation.
KW - flexible joint
KW - Global stabilization
KW - PD control
KW - stability analysis
KW - underactuated robotic systems
UR - http://www.scopus.com/inward/record.url?scp=84890458202&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84890458202&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84890458202
SN - 9789881563835
SP - 1520
EP - 1525
BT - Chinese Control Conference, CCC
PB - IEEE Computer Society
ER -