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Design of an industrial flexible robot controller using matlab

✍ Scribed by Atef A. Ata; Ali R. Shahin; Shihab S. Asfour


Book ID
107965958
Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
272 KB
Volume
31
Category
Article
ISSN
0360-8352

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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