𝔖 Bobbio Scriptorium
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Nonlinear control with acceleration feedback for a two-link flexible robot

✍ Scribed by E. García-Benitez; J. Watkins; S. Yurkovich


Book ID
108043037
Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
590 KB
Volume
1
Category
Article
ISSN
0967-0661

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A global output feedback controller for
✍ S. Nicosia; P. Tomei 📂 Article 📅 1995 🏛 Elsevier Science 🌐 English ⚖ 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