An observer-based set-point controller for robot manipulators with flexible joints

Systems and Control Letters

Volumn 21, Issue 4, 1993, Pages 329-335

  Ailon, A ^a   Ortega, R ^b  

^a BEN GURION UNIVERSITY OF THE NEGEV   (Israel)

^b UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

linear observers; nonlinear control; Robot control

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; DAMPING; ERROR COMPENSATION; GRAVITATIONAL EFFECTS; MANIPULATORS; MATHEMATICAL MODELS; OBSERVABILITY; POSITION CONTROL; POSITION MEASUREMENT; ROBOTICS; SYSTEM STABILITY;

FLEXIBLE JOINTS; GLOBAL ASYMPTOTIC STABILITY; LINEAR OBSERVERS; OBSERVER BASED SET POINT CONTROLLERS;

NONLINEAR CONTROL SYSTEMS;

EID: 0027677193     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/0167-6911(93)90076-I     Document Type: Article

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