Analysis and synthesis of an output feedback for an uncertain robot model with flexible joints

A Ailon

doi:10.1016/S1474-6670(17)45485-1

Analysis and synthesis of an output feedback for an uncertain robot model with flexible joints

A Ailon

Department of Electrical & Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This study considers the set-point regulation problem of a flexible-joint robot with uncertain parameters and unknown gravity forces when only position measurements are available for the controller. An essential tool in the present approach is the contraction mapping theorem. An analytical solution to the underlying control problem is presented. Some practical issues associated with the implementation of the controller-observer are considered.

Original language	English
Title of host publication	IFAC Proceedings Volumes
Publisher	Elsevier
Pages	335-340
Number of pages	6
Volume	28
Edition	8
DOIs	https://doi.org/10.1016/S1474-6670(17)45485-1
State	Published - 1995
Event	IFAC Conference on System Structure and Control 1995 - Nantes, France Duration: 5 Jul 1995 → …

Conference

Conference	IFAC Conference on System Structure and Control 1995
Country/Territory	France
City	Nantes
Period	5/07/95 → …

Access to Document

10.1016/S1474-6670(17)45485-1

Cite this

@inproceedings{b12f5251945d4b078860e3a465da206d,

title = "Analysis and synthesis of an output feedback for an uncertain robot model with flexible joints",

abstract = "This study considers the set-point regulation problem of a flexible-joint robot with uncertain parameters and unknown gravity forces when only position measurements are available for the controller. An essential tool in the present approach is the contraction mapping theorem. An analytical solution to the underlying control problem is presented. Some practical issues associated with the implementation of the controller-observer are considered.",

author = "A Ailon",

year = "1995",

doi = "10.1016/S1474-6670(17)45485-1",

language = "English",

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pages = "335--340",

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edition = "8",

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PY - 1995

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N2 - This study considers the set-point regulation problem of a flexible-joint robot with uncertain parameters and unknown gravity forces when only position measurements are available for the controller. An essential tool in the present approach is the contraction mapping theorem. An analytical solution to the underlying control problem is presented. Some practical issues associated with the implementation of the controller-observer are considered.

AB - This study considers the set-point regulation problem of a flexible-joint robot with uncertain parameters and unknown gravity forces when only position measurements are available for the controller. An essential tool in the present approach is the contraction mapping theorem. An analytical solution to the underlying control problem is presented. Some practical issues associated with the implementation of the controller-observer are considered.

U2 - 10.1016/S1474-6670(17)45485-1

DO - 10.1016/S1474-6670(17)45485-1

M3 - Conference contribution

VL - 28

SP - 335

EP - 340

BT - IFAC Proceedings Volumes

PB - Elsevier

T2 - IFAC Conference on System Structure and Control 1995

Y2 - 5 July 1995

ER -

Analysis and synthesis of an output feedback for an uncertain robot model with flexible joints

Abstract

Conference

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