Title :
Controller-observer for point-to-point control of a flexible-joint robot with uncertain parameters
Author :
Ailon, A. ; Lozano, R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This paper considers the point-to-point control problem of an n-link flexible-joint robot modeled by 2n state equations with unknown parameters. The resulting control scheme is based on a 2n-dimensional linear controller-observer.
Keywords :
position control; robots; uncertain systems; 2n-dimensional linear controller-observer; controller-observer; flexible-joint robot; point-to-point control; state equations; uncertain parameters; Collaborative work; Contracts; Control systems; Equations; Force control; Gravity; PD control; Position control; Position measurement; Robots;
Conference_Titel :
Electrical and Electronics Engineers in Israel, 1995., Eighteenth Convention of
Conference_Location :
Tel Aviv, Israel
Print_ISBN :
0-7803-2498-6
DOI :
10.1109/EEIS.1995.513802
