DocumentCode :
2535241
Title :
Nonlinear control techniques for flexible joint manipulators: A single link case study
Author :
Marino, R. ; Spong, M.W.
Author_Institution :
Universita di Roma, Roma, Italia
Volume :
3
fYear :
1986
fDate :
31503
Firstpage :
1030
Lastpage :
1036
Abstract :
In this paper we study the nonlinear control problem for a single link manipulator with joint elasticity. We illustrate several recent nonlinear control techniques, namely feedback linearization, integral manifold and composite control. We work out in detail both a global feedback linearizing control law and a nonlinear composite control law based on a singular perturbation formulation of the manipulator dynamics and the concept of integral manifold. The two solutions are then compared and contrasted.
Keywords :
Actuators; Elasticity; Equations; Gears; Linear feedback control systems; Manipulator dynamics; Robot control; Robot kinematics; Shafts; Springs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1986.1087613
Filename :
1087613
Link To Document :
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