Abstract
The basic problem of estimating the response time of a flexible-joint robot is considered. An upper bound on the robot's velocity and elastic displacement vector norms has been established. Applications of the results are considered. The design of a reduced-order observer for a flexible-joint robot is demonstrated, regardless of a prerequisite assumption concerning the boundedness of the velocity norm.
Original language | English |
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Pages (from-to) | 79-85 |
Number of pages | 7 |
Journal | Systems and Control Letters |
Volume | 26 |
Issue number | 2 |
DOIs | |
State | Published - 22 Sep 1995 |
Keywords
- Flexible-joint robot control
- Measure of total energy
- Reduced-order observer
ASJC Scopus subject areas
- Control and Systems Engineering
- General Computer Science
- Mechanical Engineering
- Electrical and Electronic Engineering