On the feedback linearization of robots with variable joint stiffness

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 1753-1759

  Palli, G ^a   Melchiorri, C ^a   De Luca, A ^b  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Elastic joints; Feedback linearization; Nonlinear systems; Robot manipulators; Variable stiffness

Indexed keywords

EQUATIONS OF MOTION; FEEDBACK; FEEDBACK LINEARIZATION; INDUSTRIAL ENGINEERING; LINEAR EQUATIONS; LINEARIZATION; MACHINE DESIGN; MANIPULATORS; NONLINEAR EQUATIONS; ROBOTICS; STATE FEEDBACK; STIFFNESS;

ELASTIC JOINTS; JOINT STIFFNESS; NONLINEAR SYSTEMS; ROBOT MANIPULATORS; VARIABLE STIFFNESS;

ROBOTS;

EID: 51649106849     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543454     Document Type: Conference Paper

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