liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Royal Institute of Technology, Sweden.
2008 (English)Report (Other academic)
Abstract [en]

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
Linköping: Linköping University Electronic Press, 2008. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2847
Keyword [en]
Robotics, Manipulation, Control, Feedforward, Feedback linearization, Discrete-time, Flexible joints
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-56162ISRN: LiTH-ISY-R-2847OAI: diva2:316936
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-02Bibliographically approved

Open Access in DiVA

fulltext(467 kB)519 downloads
File information
File name FULLTEXT01.pdfFile size 467 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Moberg, Stig
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 519 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 107 hits
ReferencesLink to record
Permanent link

Direct link