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An experimental study of planar impact of a robot manipulator

✍ Scribed by P.R. Pagilla; Biao Yu


Book ID
117923851
Publisher
IEEE
Year
2004
Tongue
English
Weight
203 KB
Volume
9
Category
Article
ISSN
1083-4435

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This paper presents the design of an optimal non-linear position tracking controller for a two-link #exible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR techniques. It is shown that the non-linear robot model is feedback lineari