Feedback control of elastic robots by pseudo-linearization techniques
- 1 December 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
For robots with rotary and flexible joints, we consider a control design method based on the pseudo- -linearization technique. Nonlinear state feedback control laws and observer/state feedback control laws are derived. The method is illustrated by application to a two joint manipulator. The results, tested by simulation, are satisfactory.Keywords
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