DocumentCode
2327145
Title
Controller-observer for point-to-point control of a flexible-joint robot with uncertain parameters
Author
Ailon, A. ; Lozano, R.
Author_Institution
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
fYear
1995
fDate
7-8 March 1995
Abstract
This paper considers the point-to-point control problem of an n-link flexible-joint robot modeled by 2n state equations with unknown parameters. The resulting control scheme is based on a 2n-dimensional linear controller-observer.
Keywords
position control; robots; uncertain systems; 2n-dimensional linear controller-observer; controller-observer; flexible-joint robot; point-to-point control; state equations; uncertain parameters; Collaborative work; Contracts; Control systems; Equations; Force control; Gravity; PD control; Position control; Position measurement; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Electronics Engineers in Israel, 1995., Eighteenth Convention of
Conference_Location
Tel Aviv, Israel
Print_ISBN
0-7803-2498-6
Type
conf
DOI
10.1109/EEIS.1995.513802
Filename
513802
Link To Document