ROBOT CONTROL BY USING ONLY JOINT POSITION MEASUREMENTS

被引：290

作者：

NICOSIA, S

TOMEI, P

机构：

[1] Dipartimento di Ingegneria Elettronica, Seconda Università di Roma

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 09期

关键词：

D O I：

10.1109/9.58537

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note considers the problem of controlling by output feedback robot manipulators. As outputs, the joint positions are assumed. A nonlinear observer is presented to estimate the joint speeds. The stability is also proved of some state feedback controllers having the proposed observer inserted in the feedback loop. © 1990 IEEE

引用

页码：1058 / 1061

页数：4

共 17 条

[1]

AN CH, 1987, P IEEE INT C ROBOT A

[2]

Arimoto S., 1984, ROBOTICS RES

[3]

ATKESON CG, 1985, P IEEE C DECISION CO

[4] FEEDBACK-CONTROL OF NONLINEAR-SYSTEMS BY EXTENDED LINEARIZATION [J].