Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

IEEE Transactions on Automatic Control

Volumn 42, Issue 4, 1997, Pages 559-564

  Ailon, Amit ^a   Lozano Leal, Rogelio ^b   Gil', Michael ^a  

^a BEN GURION UNIVERSITY OF THE NEGEV   (Israel)

^b UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

Electric drives; Flexible joint robot; Global asymptotic stability; State and output feedbacks

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTATIONAL METHODS; CONTROL EQUIPMENT; ELECTRIC DRIVES; FEEDBACK; LINEAR CONTROL SYSTEMS; MATHEMATICAL MODELS; POSITION CONTROL; PROBLEM SOLVING;

CONSTANT FEEDFORWARD FEEDBACK; GLOBAL ASYMPTOTIC STABILITY; SET POINT TRACKING PROBLEMS;

MOBILE ROBOTS;

EID: 0031125056     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.566669     Document Type: Article

References (9)

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