ISSN:
1531-5878
Source:
Springer Online Journal Archives 1860-2000
Topics:
Electrical Engineering, Measurement and Control Technology
Notes:
Abstract This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator. The proposed controller ensures local exponential stability under some uncertainty conditions. It is assumed that the velocity signals from the link side are not measurable. The controller is analyzed by using tools for pole placement by an output-feedback in the framework of the linear system theory. Some useful structural properties of the systems under consideration have been studied. Applications of the results to the set-point regulation control problem are considered.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01206679
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