A method to control robots with and without an amount of joint elasticity is presented. The method is based on the pseudolinearization technique. For a two-rotary-joint robot, both a state-feedback control law and an output feedback control law, where the rigid and elastic positions are assumed as outputs, are derived. In the latter case the state vector is reconstructed by an observer that is also designed with the pseudolinearization method. The results of the simulation runs are satisfactory, showing a tracking error in the joint coordinates of the order of 10-**5 rad.

Nicosia, S., Tomei, P., Tornambe, A. (1986). Feedback control of elastic robots by pseudo-linearization techniques. In Proceedings of the IEEE Conference on Decision and Control (pp.397-402). New York, NY, USA : IEEE.

Feedback control of elastic robots by pseudo-linearization techniques

Nicosia, Salvatore;Tomei, Patrizio;Tornambe, Antonio
1986

Abstract

A method to control robots with and without an amount of joint elasticity is presented. The method is based on the pseudolinearization technique. For a two-rotary-joint robot, both a state-feedback control law and an output feedback control law, where the rigid and elastic positions are assumed as outputs, are derived. In the latter case the state vector is reconstructed by an observer that is also designed with the pseudolinearization method. The results of the simulation runs are satisfactory, showing a tracking error in the joint coordinates of the order of 10-**5 rad.
Proceedings of the 25th IEEE Conference on Decision & Control.
Athens, Greece, null
IEEE Control Systems Soc, New York, NY, USA
Rilevanza internazionale
Settore ING-INF/04 - Automatica
English
Control and Systems Engineering; Modeling and Simulation; Control and Optimization
Intervento a convegno
Nicosia, S., Tomei, P., Tornambe, A. (1986). Feedback control of elastic robots by pseudo-linearization techniques. In Proceedings of the IEEE Conference on Decision and Control (pp.397-402). New York, NY, USA : IEEE.
Nicosia, S; Tomei, P; Tornambe, A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193831
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