Nonlinear feedback control of flexible joint manipulators: a single link case study
- 1 January 1990
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 35 (10) , 1145-1149
- https://doi.org/10.1109/9.58558
Abstract
A nonlinear feedback control for a flexible joint manipulator is investigated. It is shown that if the elastic (parasitic) modes are weakly observable from the output of the system, a state-space coordinate transformation and a static state feedback and control space transformation will turn the flexible system into a linear controllable and observable system. In contrast, if the parasitics are strongly observable, a dynamic state feedback is required for input-output linearization. Numerical simulations for a single link flexible joint manipulator are reported, illustrating the application of the methodologyKeywords
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