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On the control of a class of flexible manipulators using feedback linearization approach

โœ Scribed by V.J. Modi; F. Karray; J.K. Chan


Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
757 KB
Volume
29
Category
Article
ISSN
0094-5765

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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