DocumentCode
2970323
Title
On the feedback linearization of robots with elastic joints
Author
Nicosia, S. ; Tomei, P.
Author_Institution
Dept. di Ingegneria Electron., Roma Univ., Italy
fYear
1988
fDate
7-9 Dec 1988
Firstpage
180
Abstract
Robotic manipulators in which the joints exhibit a certain amount of elasticity are considered. Necessary and sufficient conditions are given under which these systems can be linearized by state feedback and suitable change of coordinates. Conditions which allow an approximate feedback linearization are also derived. Simulation results for a three-degree-of-freedom robot are presented
Keywords
feedback; linearisation techniques; robots; elastic joints; feedback linearization; robots; state feedback; three-degree-of-freedom robot; Elasticity; Linear approximation; Manipulator dynamics; Orbital robotics; Robot kinematics; Robotic assembly; Springs; State feedback; Sufficient conditions; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location
Austin, TX
Type
conf
DOI
10.1109/CDC.1988.194292
Filename
194292
Link To Document