On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
نویسندگان
چکیده
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 available. The feedback linearization approach is compared to a feedforward approach.
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