An observer-based set-point controller for robot manipulators with flexible joints
โ Scribed by A. Ailon; R. Ortega
- Publisher
- Elsevier Science
- Year
- 1993
- Tongue
- English
- Weight
- 536 KB
- Volume
- 21
- Category
- Article
- ISSN
- 0167-6911
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๐ SIMILAR VOLUMES
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
This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An esse
This paper simplifies and extends previous results associated with the synthesis of controller-observers for set-point regulation of flexible-joint robots. The underlying model accounts for the effects of Coriolis and centripetal forces on both the links and the motors. According to the present appr