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Input-output robust tracking control design for flexible joint robots

โœ Scribed by Zhihua Qu


Book ID
121010661
Publisher
IEEE
Year
1995
Tongue
English
Weight
631 KB
Volume
40
Category
Article
ISSN
0018-9286

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A global output feedback controller for
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