DocumentCode
1659099
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
Volume
2
fYear
1994
Firstpage
1817
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CDC.1994.411119
Filename
411119
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