Tracking control of robots using only position measurements

A tracking controller for robots that is based on position measurements only is presented. The controller consists of a computed torque like control part together with an observer part that determines an estimate of the velocity signal. A nice property of this observer is its linearity, which is in fact a consequence of the linearization of the computed torque control part in the ideal case. Under fairly general conditions on the controller and observer gains, exponential stability of the closed loop system is proven.<
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