DocumentCode
2544062
Title
Output feedback control of flexible joint robots
Author
Nicosia, S. ; Tomei, P.
Author_Institution
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
fYear
1993
fDate
17-20 Oct 1993
Firstpage
700
Abstract
A global dynamic output feedback tracking controller for robots having elastic joints is presented. The controller only requires the measurements of position and speed of each link and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of a reduced order observer which estimates (only in closed loop) the position and the velocity of each motor rotor
Keywords
Convergence; Output feedback; Position measurement; Robot control; Robot sensing systems; Rotors; State feedback; Trajectory; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.385099
Filename
385099
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