DocumentCode
2854246
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
Volume
4
fYear
1995
fDate
13-15 Dec 1995
Firstpage
3895
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.479209
Filename
479209
Link To Document