A general algorithm for dynamic feedback linearization of robots with elastic joints

For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control design is performed directly on the second-order robot dynamic equations. The linearizin...

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Bibliographic Details
Published inProceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Vol. 1; pp. 504 - 510 vol.1
Main Authors de Luca, A., Lucibello, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1998
Subjects
Control systems
Equations
Feedback control
Heuristic algorithms
Linear feedback control systems
Manipulator dynamics
Nonlinear control systems
Service robots
State feedback
Trajectory
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Summary:For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control design is performed directly on the second-order robot dynamic equations. The linearizing control law is expressed in terms of the original model components and of their time derivatives, allowing an efficient organization of computations. A tight upper bound for the dimension of the needed dynamic compensator is also obtained.
ISBN:078034300X
9780780343009
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1998.677024