On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
نویسندگان
چکیده
منابع مشابه
On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
Feedback linearization is one of the major academic approaches for controlling exible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic threeaxis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are ava...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2008
ISSN: 1474-6670
DOI: 10.3182/20080706-5-kr-1001.02069