A tracking controller for flexible joint robots using only link position feedback

DOI10.1109/9.384223zbMath0826.93048OpenAlexW2566690868MaRDI QIDQ4841491

Patrizio Tomei, Salvatore Nicosia

Publication date: 27 November 1995

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.384223

zbMATH Keywords

asymptotic trackingdynamic output feedbackflexible joint robotsbound on the initial tracking errormeasurements of the position of the links

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Related Items (3)

Control of mechanical systems with flexibility via a multi-input VS/backstepping design ⋮ On the role of passivity and output injection in the output feedback stabilisation problem: Application to robot control ⋮ On stability and regulation performance for flexible-joint robots with input/output communication delays

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