Disturbance attenuation and load decoupling with H ∞ positive joint torque feedback

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 1998, Pages 3613-3618

  Aghili, F ^a   Buehler, M ^a   Hollerbach, J M ^b  

^a MCGILL UNIVERSITY   (Canada)

^b UNIVERSITY OF UTAH   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

TORQUE; TORQUE MEASUREMENT; ACTUATORS; FEEDBACK CONTROL; OPTIMAL CONTROL SYSTEMS; POSITION CONTROL; TORQUE CONTROL; TRACKING (POSITION); UNIVERSAL JOINTS;

DECOUPLING PROPERTIES; DIRECT-DRIVE SYSTEM; DISTURBANCE ATTENUATION; JOINT TORQUES; LOAD TORQUES; POSITION CONTROLLER; POSITIVE TORQUES; TRACKING PERFORMANCE;

FEEDBACK; ROBOTICS;

DISTURBANCE ATTENUATION; LOAD DECOUPLING; POSITIVE JOINT TORQUE FEEDBACK;

EID: 0031643451     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.681028     Document Type: Conference Paper

References (8)

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