Proposal of the-law-of-inertia (friction/gravity-free) robots
S Arimoto, H Koga, T Naniwa - Proceedings of International …, 1997 - ieeexplore.ieee.org
Robot dynamics under static and Coulomb frictions are shown to be equivalent to a
nonlinear position-dependent circuit including a set of on-off switches and analyzed as a
variable structure system. It is shown that, under the existence of static and Coulomb frictions
at each joint, an ordinary PD feedback with gravity compensation, for set-point position
control leads to a trapping of motion at some immovable state within a finite time without
reaching the given target position. On the contrary, by introducing regressors for uncertain …
nonlinear position-dependent circuit including a set of on-off switches and analyzed as a
variable structure system. It is shown that, under the existence of static and Coulomb frictions
at each joint, an ordinary PD feedback with gravity compensation, for set-point position
control leads to a trapping of motion at some immovable state within a finite time without
reaching the given target position. On the contrary, by introducing regressors for uncertain …
Proposal of the-law-of-inertia (friction/gravity-free) robots
H Koga, S Arimoto, T Naniwa - Proceedings of International Conference …, 2002 - cir.nii.ac.jp
Robot dynamics under static and Coulomb frictions are shown to be equivalent to a
nonlinear position-dependent circuit including a set of on-off switches and analyzed as a
variable structure system. It is shown that, under the existence of static and Coulomb frictions
at each joint, an ordinary PD feedback with gravity compensation, for set-point position
control leads to a trapping of motion at some immovable state within a finite time without
reaching the given target position. On the contrary, by introducing regressors for uncertain …
nonlinear position-dependent circuit including a set of on-off switches and analyzed as a
variable structure system. It is shown that, under the existence of static and Coulomb frictions
at each joint, an ordinary PD feedback with gravity compensation, for set-point position
control leads to a trapping of motion at some immovable state within a finite time without
reaching the given target position. On the contrary, by introducing regressors for uncertain …
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