Title :
A tracking controller for flexible joint robots using only link position feedback
Author :
Nicosia, S. ; Tomei, P.
Author_Institution :
Dept. of Electron. Eng., Tor Vergata Univ., Rome, Italy
fDate :
5/1/1995 12:00:00 AM
Abstract :
A dynamic output feedback controller for flexible joint robots is presented which guarantees asymptotic tracking of a desired trajectory, starting from arbitrary initial conditions. The controller needs only the measurements of the positions of the links and the knowledge of an upper bound on the initial tracking error
Keywords :
feedback; manipulators; position control; tracking; asymptotic tracking; dynamic output feedback controller; flexible joint robots; initial tracking error; link position feedback; tracking controller; upper bound; Convergence; Elasticity; Error correction; Manipulators; Output feedback; Position measurement; Robot control; Rotors; Upper bound; Velocity measurement;
Journal_Title :
Automatic Control, IEEE Transactions on
