Decoupling and feedback linearization of robots with mixed rigid/elastic joints

International Journal of Robust and Nonlinear Control

Volumn 8, Issue 11, 1998, Pages 965-977

  De Luca, Alessandro ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Dynamic state feedback; Feedback linearization; Input output decoupling; Joint elasticity; Robot control

Indexed keywords

CONTROL SYSTEM ANALYSIS; ELASTICITY; FEEDBACK CONTROL; LINEARIZATION; MATHEMATICAL MODELS; STATE FEEDBACK; STATE SPACE METHODS;

FEEDBACK LINEARIZATION; INPUT-OUTPUT DECOUPLING;

ROBOTICS;

EID: 0032166965     PISSN: 10498923     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1239(199809)8:11<965::AID-RNC371>3.0.CO;2-4     Document Type: Article

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