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A global output feedback controller for flexible joint robots

โœ Scribed by S. Nicosia; P. Tomei

Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
448 KB
Volume
31
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

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 a reduced-order observer that estimates (only in closed loop) the position and the velocity of each motor rotor.

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