标题：Path Following Control for Elastic Joint Robots * * This research was partially supported by the Austrian Research Promotion Agency (FFG), grant number: 850952
摘要：AbstractThis paper presents a path following control concept for elastic joint robots. A controller is designed using transverse feedback linearization and a parallel transport frame that is suitable for regular paths with parametrized fivefold continuously differentiable representation. Systematic application of the singular perturbation theory makes this concept also applicable to elastic joint robots with a larger number of degrees of freedom. A simulation example for a six-axis industrial robot shows the feasibility of the proposed approach and the advantages compared to classical trajectory tracking control.
关键词：KeywordsPath Following ControlTransverse Feedback LinearizationMoving FrameElastic Joint RobotsSingular Perturbation
