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A tracking controller for flexible joint robots using only link position feedback

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2 Author(s)
Nicosia, S. ; Dept. of Electron. Eng., Tor Vergata Univ., Rome, Italy ; Tomei, P.

A dynamic output feedback controller for flexible joint robots is presented which guarantees asymptotic tracking of a desired trajectory, starting from arbitrary initial conditions. The controller needs only the measurements of the positions of the links and the knowledge of an upper bound on the initial tracking error

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Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 5 )