Robots with elastic joints are linearizable via dynamic feedback

1 January 1995

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 4 (01912216) , 3895-3897
https://doi.org/10.1109/cdc.1995.479209

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

This publication has 7 references indexed in Scilit:

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