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Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators

✍ Scribed by M.F. Khelfi; M. Zasadzinski; H. Rafaralahy; E. Richard; M. Darouach


Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
674 KB
Volume
4
Category
Article
ISSN
0967-0661

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✍ A. Ailon; R. Lozano πŸ“‚ Article πŸ“… 1996 πŸ› Elsevier Science 🌐 English βš– 380 KB

This paper simplifies and extends previous results associated with the synthesis of controller-observers for set-point regulation of flexible-joint robots. The underlying model accounts for the effects of Coriolis and centripetal forces on both the links and the motors. According to the present appr