GLOBAL SET-POINT CONTROL VIA LINK POSITION MEASUREMENT FOR FLEXIBLE-JOINT ROBOTS

被引：18

作者：

BATTILOTTI, S

LANARI, L

机构：

[1] Dipartimento di Informatica e Sistemistica, Università di Roma La Sapienza, 00184 Roma

来源：

SYSTEMS & CONTROL LETTERS | 1995年 / 25卷 / 01期

关键词：

OUTPUT FEEDBACK; GLOBAL SET POINT CONTROL; ELASTIC JOINT ROBOTS;

D O I：

10.1016/0167-6911(94)00052-W

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper it is shown that a linear controller solves the global set point control problem for a flexible joint robot via link position measurements. Moreover, the controller is shown to be robust with respect to uncertainties in the gravity term.

引用

页码：21 / 29

页数：9

共 12 条

[1] AN OBSERVER-BASED SET-POINT CONTROLLER FOR ROBOT MANIPULATORS WITH FLEXIBLE JOINTS [J].