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Browse Journals & Magazines > Automatic Control, IEEE Trans ...> Volume:40 Issue:5 Help

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

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

Date of Publication: May 1995

Page(s):
885 - 890
ISSN :
0018-9286
INSPEC Accession Number:
4959089
Digital Object Identifier :
10.1109/9.384223
Date of Current Version :
06 August 2002
Issue Date :
May 1995
Sponsored by :
IEEE Control Systems Society

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