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Load carrying capacity of flexible joint manipulators with feedback linearization

โœ Scribed by M.H. Korayem; F. Davarpanah; H. Ghariblu


Book ID
105851591
Publisher
Springer
Year
2006
Tongue
English
Weight
469 KB
Volume
29
Category
Article
ISSN
0268-3768

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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