Title :
A tracking controller for flexible joint robots using only link position feedback
Author :
Nicosia, S. ; Tomei, P.
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
Abstract :
A dynamic output feedback controller for flexible joint robots is presented which guarantees tracking of a desired trajectory, starting from arbitrary initial conditions. The controller needs only the measurements of the positions of the links and the knowledge of an upper bound on the initial error
Keywords :
asymptotic stability; feedback; observers; position control; position measurement; robots; tracking; dynamic output feedback controller; flexible joint robots; initial error; link position feedback; tracking controller; Control design; Convergence; Elasticity; Error correction; Output feedback; Position measurement; Robot control; Trajectory; Upper bound; Velocity measurement;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411119
