Title :
Output feedback control of flexible joint robots
Author :
Nicosia, S. ; Tomei, P.
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
Abstract :
A global dynamic output feedback tracking controller for robots having elastic joints is presented. The controller only requires the measurements of position and speed of each link and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of a reduced order observer which estimates (only in closed loop) the position and the velocity of each motor rotor
Keywords :
Convergence; Output feedback; Position measurement; Robot control; Robot sensing systems; Rotors; State feedback; Trajectory; Velocity control; Velocity measurement;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.385099
