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A flexible controller for robots

✍ Scribed by B.H. Mutagahya; A. Salihi; R.H. Weston

Book ID
107890925
Publisher
Elsevier Science
Year
1983
Tongue
English
Weight
407 KB
Volume
7
Category
Article
ISSN
0141-9331

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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