Sba: Controle & Automação Sociedade Brasileira de Automatica
versión impresa ISSN 0103-1759
RAMIREZ, Alejandro Rafael Garcia; PIERI, Edson R. de y GUENTHER, Raul. Controle em cascata de um manipulador robótico com um elo e uma transissão flexível. Sba Controle & Automação [online]. 2003, vol.14, n.4, pp. 393-401. ISSN 0103-1759. http://dx.doi.org/10.1590/S0103-17592003000400007.
The position control of robot manipulators with joint flexibility is studied in this work. Two approaches are considered: one based on the property of Passivity and the Variable Structure Control, and another one based on the Backstepping technique and Passivity. The control strategies were tested in a robot prototype, specially built for this purpose. This work presents the experimental results which illustrates the applicability of the control methodologies.
Palabras llave : Robot control; passivity; joint flexibility; cascade control; backstepping.