On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots
2008 (English)Report (Other academic)
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
Robotics, Manipulation, Control, Feedforward, Feedback linearization, Discrete-time, Flexible joints
IdentifiersURN: urn:nbn:se:liu:diva-56162ISRN: LiTH-ISY-R-2847OAI: oai:DiVA.org:liu-56162DiVA: diva2:316936