Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots
نویسندگان
چکیده
منابع مشابه
Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots
This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while...
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ژورنال
عنوان ژورنال: Robotica
سال: 2000
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574799002167