Global stabilization control for a two-link underactuated robot with a flexible elbow joint

Xin Xin, Yannian Liu, Jinglong Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 32nd Chinese Control Conference, CCC 2013
PublisherIEEE Computer Society
Pages1520-1525
Number of pages6
ISBN (Print)9789881563835
Publication statusPublished - Oct 18 2013
Event32nd Chinese Control Conference, CCC 2013 - Xi'an, China
Duration: Jul 26 2013Jul 28 2013

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Other

Other32nd Chinese Control Conference, CCC 2013
CountryChina
CityXi'an
Period7/26/137/28/13

Keywords

  • Global stabilization
  • PD control
  • flexible joint
  • stability analysis
  • underactuated robotic systems

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modelling and Simulation

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  • Cite this

    Xin, X., Liu, Y., & Wu, J. (2013). Global stabilization control for a two-link underactuated robot with a flexible elbow joint. In Proceedings of the 32nd Chinese Control Conference, CCC 2013 (pp. 1520-1525). [6639668] (Chinese Control Conference, CCC). IEEE Computer Society.