MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling
暂无分享,去创建一个
[1] M. Spong. Modeling and Control of Elastic Joint Robots , 1987 .
[2] Brian S. R. Armstrong,et al. Dynamics for robot control: friction modeling and ensuring excitation during parameter identification , 1988 .
[3] Tobias Ortmaier,et al. A hands-on-robot for accurate placement of pedicle screws , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[4] Lin Tian,et al. Robust adaptive control of flexible joint robots with joint torque feedback , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.
[5] A. Isidori,et al. Nonlinear system I , 1999 .
[6] Hamid D. Taghirad,et al. A robust linear controller for flexible joint manipulators , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).
[7] P. Tomei. A simple PD controller for robots with elastic joints , 1991 .
[8] Rogelio Lozano,et al. Global tracking controllers for flexible-joint manipulators: a comparative study , 1995, Autom..
[9] Alin Albu-Schäffer,et al. A globally stable state feedback controller for flexible joint robots , 2001, Adv. Robotics.
[10] Charles R. Johnson,et al. Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.
[11] Alessandro De Luca,et al. A general algorithm for dynamic feedback linearization of robots with elastic joints , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).
[12] Weiping Li,et al. Applied Nonlinear Control , 1991 .
[13] Bruno Siciliano,et al. Two-time scale force and position control of flexible manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).
[14] Otto Föllinger,et al. Optimale Regelung und Steuerung , 1994 .
[15] A. A. Abouelsoud. Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping , 1998, J. Intell. Robotic Syst..
[16] Alin Albu-Schäffer,et al. DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).