IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear feedback control of flexible joint manipulators: a single link case study

Author(s): K. Khorasani
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 1990
Volume: 35
Page Count: 5
Page(s): 1,145 - 1,149
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/9.58558
Regular:

A nonlinear feedback control for a flexible joint manipulator is investigated. It is shown that if the elastic (parasitic) modes are weakly observable from the output of the system, a state-space... View More

Advertisement