In this paper, we derive in a systematic manner, and using a unified framework, some recent results on global set point control of rigid and elastic joint robots using only position measurements. The controller design procedure consists of splitting up the overall stabilization task into two independent subproblems: one, a state-feedback stabilization problem, the other, an output injection stabilization problem.
A Unified Approach to Global Set Point Control for Rigid and Elastic Joint Robots / Battilotti, S.; Lanari, L.; Ortega, R.. - STAMPA. - 29:1(1996), pp. 55-60. (Intervento presentato al convegno 13th World Congress of IFAC tenutosi a San Francisco (USA)) [10.1016/S1474-6670(17)57638-7].
A Unified Approach to Global Set Point Control for Rigid and Elastic Joint Robots
S. Battilotti
;L. Lanari;
1996
Abstract
In this paper, we derive in a systematic manner, and using a unified framework, some recent results on global set point control of rigid and elastic joint robots using only position measurements. The controller design procedure consists of splitting up the overall stabilization task into two independent subproblems: one, a state-feedback stabilization problem, the other, an output injection stabilization problem.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
