Title :
Feedback control of elastic robots by pseudo-linearization techniques
Author :
Nicosia, S. ; Tomei, P. ; Tornambe, A.
Author_Institution :
Seconda Universit?? di Roma, Roma, Italy
Abstract :
For robots with rotary and flexible joints, we consider a control design method based on the pseudo- -linearization technique. Nonlinear state feedback control laws and observer/state feedback control laws are derived. The method is illustrated by application to a two joint manipulator. The results, tested by simulation, are satisfactory.
Keywords :
Control design; Control system synthesis; Differential equations; Feedback control; Nonlinear control systems; Robot control; Service robots; State feedback; State-space methods; Testing;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267288
