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
โฆ LIBER โฆ
Design of a robust position feedback tracking controller for flexible-joint robots
โ Scribed by Chang, Y.-C.; Yen, H.-M.
- Book ID
- 114442866
- Publisher
- The Institution of Engineering and Technology
- Year
- 2011
- Tongue
- English
- Weight
- 765 KB
- Volume
- 5
- Category
- Article
- ISSN
- 1751-8644
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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