Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

DOI10.1007/BF01206679zbMATH Open0953.93051MaRDI QIDQ1306187FDOQ1306187

Authors: Amit Ailon, Michael I. Gil', Eun-Seok Choi, Byung-Ha Ahn 

Publication date: 7 June 2000

Published in: Circuits, Systems, and Signal Processing (Search for Journal in Brave)

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zbMATH Keywords

output feedbackpole placementflexible-joint robotsautomated systemsDC motorsstabilization of systems by feedback

Mathematics Subject Classification ID

Pole and zero placement problems (93B55) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Cites Work

• Global regulation of robots using only position measurements
• Pole assignment by gain output feedback
• An observer-based set-point controller for robot manipulators with flexible joints
• Modeling and Control of Elastic Joint Robots
• Global regulation of flexible joint robots using approximate differentiation
• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• Global set point control via link position measurement for flexible joint robots
• Title not available (Why is that?)
• An adaptive partial state-feedback controller for RLED robot manipulators

Cited In (1)

• Structural properties of a flexible-joint robot model with output controllers and some related applications

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