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 - Global stabilization
KW - PD control
KW - flexible joint
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
T3 - Chinese Control Conference, CCC
SP - 1520
EP - 1525
BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013
PB - IEEE Computer Society
T2 - 32nd Chinese Control Conference, CCC 2013
Y2 - 26 July 2013 through 28 July 2013
ER -