Decoupling and feedback linearization of robots with mixed rigid/elastic joints

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1099-1239(199809)8:11<965::AID-RNC371>3.0.CO;2-4" /><965::AID-RNC371>3.0.CO;2-4 10.1002/(SICI)1099-1239(199809)8:11<965::AID-RNC371>3.0.CO;2-4zbMath0914.93038OpenAlexW2049437759MaRDI QIDQ4218713

Alessandro De Luca

Publication date: 7 June 1999

Full work available at URL: https://doi.org/10.1002/(sici)1099-1239(199809)8:11<965::aid-rnc371>3.0.co;2-4

zbMATH Keywords

feedback linearizationrobotsinput-output decouplingmixed rigid/elastic joint

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

Related Items (6)

Screw and Lie group theory in multibody dynamics ⋮ Application of local coordinates rectification in linearization of selected parameters of dynamic nonlinear systems ⋮ Input-output transformation using the feedback of nonlinear electrical circuits: algorithms and linearization examples ⋮ Recursive methods in control of flexible joint manipulators ⋮ Nonregular feedback linearization for a class of second-order nonlinear systems ⋮ Closed-form time derivatives of the equations of motion of rigid body systems

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