DocumentCode
777903
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
Volume
40
Issue
5
fYear
1995
fDate
5/1/1995 12:00:00 AM
Firstpage
885
Lastpage
890
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.384223
Filename
384223
Link To Document