On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, 12218-12223 p.Conference paper (Refereed)
Feedback linearization is one of the major academic approaches for controlling flexible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic three-axis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are available. The feedback linearization approach is compared to a feedforward approach.
Place, publisher, year, edition, pages
2008. 12218-12223 p.
Robotics, Manipulation, Control, Feedforward, Feedback linearization, Discrete-time, Flexible joints
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-43055DOI: 10.3182/20080706-5-KR-1001.02069Local ID: 71180ISBN: 978-3-902661-00-5OAI: oai:DiVA.org:liu-43055DiVA: diva2:263912
17th IFAC World Congress, Seoul, South Korea, July, 2008