Title :
On the feedback linearization of robots with elastic joints
Author :
Nicosia, S. ; Tomei, P.
Author_Institution :
Dept. di Ingegneria Electron., Roma Univ., Italy
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;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194292
