Output regulation for flexible-joint manipulators using partial state measurement

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 17, Issue 1, 1996, Pages 101-110

  Abouelsoud, A A ^a   Hassan, M F ^a   Sultan, M A ^a  

^a CAIRO UNIVERSITY   (Egypt)

Author keywords

Gradient; Gravity vector; Lasalle theorem; Lyapunov function; Path independence of line integral; Potential function; Robot dynamic model; Spring stiffness matrix

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; FEEDBACK CONTROL; MATHEMATICAL MODELS; POSITION CONTROL; STIFFNESS MATRIX; VECTORS;

FLEXIBLE JOINT MANIPULATORS; GRAVITY VECTOR; LINK POSITION VECTOR; PARTIAL STATE MEASUREMENT;

MANIPULATORS;

EID: 0030234372     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1007/BF00435718     Document Type: Article

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