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

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Moberg, Stig

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf