A general algorithm for dynamic feedback linearization of robots with elastic joints
- 1 January 1998
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729) , 504-510
- https://doi.org/10.1109/robot.1998.677024
Abstract
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control design is performed directly on the second-order robot dynamic equations. The linearizing control law is expressed in terms of the original model components and of their time derivatives, allowing an efficient organization of computations. A tight upper bound for the dimension of the needed dynamic compensator is also obtained.Keywords
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