๐”– Bobbio Scriptorium
โœฆ   LIBER   โœฆ

Feedback linearization control of flexible joint robots

โœ Scribed by Robert M. Berger; Hoda A. ElMaraghy

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
669 KB
Volume
9
Category
Article
ISSN
0736-5845

No coin nor oath required. For personal study only.

๐Ÿ“œ SIMILAR VOLUMES

Design of an optimal feedback linearizin
Design of an optimal feedback linearizing-based controller for an experimental flexible-joint robot manipulator
โœ Tarek Lahdhiri; Hoda A. Elmaraghy ๐Ÿ“‚ Article ๐Ÿ“… 1999 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 226 KB ๐Ÿ‘ 3 views

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

Control of flexible joint robots
Control of flexible joint robots
โœ Fouad Mrad; Shaheen Ahmad ๐Ÿ“‚ Article ๐Ÿ“… 1992 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 699 KB
A global output feedback controller for
A global output feedback controller for flexible joint robots
โœ S. Nicosia; P. Tomei ๐Ÿ“‚ Article ๐Ÿ“… 1995 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 448 KB

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

Composite adaptive control of flexible j
Composite adaptive control of flexible joint robots
โœ Jing Yuan; Yury Stepanenko ๐Ÿ“‚ Article ๐Ÿ“… 1993 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 738 KB

An economical adaptive controller is presented for flexible joint robots with arbitrary joint stiffness. It does not necessarily require the time derivatives of the regressor matrix while still providing stable closed-loop tracking performance.

On the adaptive control of flexible join
On the adaptive control of flexible joint robots
โœ Yau-Zen Chang; Ron W. Daniel ๐Ÿ“‚ Article ๐Ÿ“… 1992 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 403 KB

This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm c