A global dynamic output feedback tracking controller for robots with elastic joints is presented. The controller only requires the measurements of position and speed of each link, and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of
β¦ LIBER β¦
A class of output feedback globally stabilizing controllers for flexible joints robots
β Scribed by Ortega, R.; Kelly, R.; Loria, A.
- Book ID
- 121010660
- Publisher
- IEEE
- Year
- 1995
- Tongue
- English
- Weight
- 550 KB
- Volume
- 11
- Category
- Article
- ISSN
- 1042-296X
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The problem of global tracking control without velocity measurement of the so-called Euler}Lagrange systems has been paid a lot of attention for the past several years. In this note, a nice property of one-degree-of-freedom Euler}Lagrange systems is highlighted, which in particular allows us to obta