In this paper it is shown that a linear controller solves the global set point control problem for a flexible joint robot via link position measurements. Moreover, the controller is shown to be robust with respect to uncertainties in the gravity term.
Global set point control via link position measurement for flexible joint robots / Battilotti, Stefano; Lanari, Leonardo. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - STAMPA. - 25:1(1995), pp. 21-29. [10.1016/0167-6911(94)00052-W]
Global set point control via link position measurement for flexible joint robots
BATTILOTTI, Stefano
;LANARI, Leonardo
1995
Abstract
In this paper it is shown that a linear controller solves the global set point control problem for a flexible joint robot via link position measurements. Moreover, the controller is shown to be robust with respect to uncertainties in the gravity term.File allegati a questo prodotto
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