Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics

DOI10.1016/0005-1098(96)00075-1zbMath0875.93284OpenAlexW2158132760MaRDI QIDQ1815733

Rogelio Lozano, Amit Ailon

Publication date: 9 December 1996

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(96)00075-1

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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Cites Work

• An observer-based set-point controller for robot manipulators with flexible joints
• Modeling and Control of Elastic Joint Robots
• Global regulation of flexible joint robots using approximate differentiation
• Robot control by using only joint position measurements