Add to ORKGThis paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots which needs the measurements of the positions of each motor rotor and link. For the proposed observer, the error equation is locally exponentially stable about the origin, with a region of convergence which may be arbitrarily enlarged by a suitable choice of the observer gain. The results are illustrated by simulation examples
This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance obse...
Disturbance observer (DOB) is widely used in many practical applications due to its simple structure...
This paper presents a solution to the global adaptive partial state feedback control problem for rig...
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots...
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robot...
The problem is discussed of observing the state variables of flexible robots. Robots are considered ...
Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The mod...
The design and the realization of an observer for a two-link flexible arm characterized by a nonline...
The problem of controlling a single-link flexible arm is investigated. With reference to an approxim...
Robots that use cycloidal gears, belts, or long shafts for transmitting motion from the motors to th...
A first procedure is proposed in order to build up discrete-time observers for robotic manipulators ...
This research project contains three main aspects. First, an observer-based controller is considered...
International audienceWe solve the open problem of global tracking control of 2nd-degree under-actua...
This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance obse...
Disturbance observer (DOB) is widely used in many practical applications due to its simple structure...
This paper presents a solution to the global adaptive partial state feedback control problem for rig...
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots...
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robot...
The problem is discussed of observing the state variables of flexible robots. Robots are considered ...
Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The mod...
The design and the realization of an observer for a two-link flexible arm characterized by a nonline...
The problem of controlling a single-link flexible arm is investigated. With reference to an approxim...
Robots that use cycloidal gears, belts, or long shafts for transmitting motion from the motors to th...
A first procedure is proposed in order to build up discrete-time observers for robotic manipulators ...
This research project contains three main aspects. First, an observer-based controller is considered...
International audienceWe solve the open problem of global tracking control of 2nd-degree under-actua...
This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance obse...
Disturbance observer (DOB) is widely used in many practical applications due to its simple structure...
This paper presents a solution to the global adaptive partial state feedback control problem for rig...