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A globally stable state feedback controller for flexible joint robots

✍ Scribed by Albu-Schäffer, Alin; Hirzinger, Gerd

Book ID
127159787
Publisher
Taylor and Francis Group
Year
2001
Tongue
English
Weight
406 KB
Volume
15
Category
Article
ISSN
0169-1864

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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