Title :
Robots with elastic joints are linearizable via dynamic feedback
Author :
De Luca, A. ; Lanari, L.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
Proves that the complete dynamic model of robots with elastic joints can always be fully transformed into a linear, controllable, and input-output decoupled system through the use of nonlinear dynamic state feedback
Keywords :
linearisation techniques; nonlinear control systems; robot dynamics; state feedback; complete dynamic model; elastic joints; input-output decoupled system; linear controllable system; nonlinear dynamic state feedback; Control systems; Electrical equipment industry; Gravity; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Robot kinematics; Service robots; State feedback; Transmission line matrix methods;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479209
