Estimates of flexible-joint robot model response times and some control applications

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

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 languageEnglish
Pages (from-to)79-85
Number of pages7
JournalSystems and Control Letters
Volume26
Issue number2
DOIs
StatePublished - 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

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