Title :
Nonlinear feedback control of flexible joint manipulators: a single link case study
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
fDate :
10/1/1990 12:00:00 AM
Abstract :
A nonlinear feedback control for a flexible joint manipulator is investigated. It is shown that if the elastic (parasitic) modes are weakly observable from the output of the system, a state-space coordinate transformation and a static state feedback and control space transformation will turn the flexible system into a linear controllable and observable system. In contrast, if the parasitics are strongly observable, a dynamic state feedback is required for input-output linearization. Numerical simulations for a single link flexible joint manipulator are reported, illustrating the application of the methodology
Keywords :
feedback; linearisation techniques; nonlinear control systems; robots; state-space methods; dynamic state feedback; flexible joint manipulators; input-output linearization; nonlinear feedback control; robots; single link; state-space coordinate transformation; static state feedback; Actuators; Computer aided software engineering; Control systems; Feedback control; Gears; Linear feedback control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear systems; State feedback;
Journal_Title :
Automatic Control, IEEE Transactions on
