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  1. Journal on Robotics and Automation
  2. Year : 1987 Volume : 3
  3. Issue 4
  4. An integral manifold approach to the feedback control of flexible joint robots
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Year : 1988 Volume : 4
Year : 1987 Volume : 3
Issue 6
Issue 5
Issue 4
Real-time DKS on a single chip
An integral manifold approach to the feedback control of flexible joint robots
Robotic manipulators and the geometry of real semialgebraic sets
Redundancy resolution of manipulators through torque optimization
Computer-aided joint error analysis of robots
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
Robust linear compensator design for nonlinear robotic control
A viewpoint independent modeling approach to object recognition
Automatic evaluation of two-fingered grips
Positioning three-dimensional objects using stereo images
Issue 3
Issue 2
Issue 1
Year : 1986 Volume : 2
Year : 1985 Volume : 1

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An integral manifold approach to the feedback control of flexible joint robots

Content Provider IEEE Xplore Digital Library
Author Spong, M. Khorasani, K. Kokotovic, P.
Copyright Year 1985
Abstract The control problem for robot manipulators with flexible joints is considered. The results are based on a recently developed singular perturbation formulation of the manipulator equations of motion where the singular perturbation parameter µ is the inverse of the joint stiffness. For this class of systems it is known that the reduced-order model corresponding to the mechanical system under the assumption of perfect rigidity is globally linearizable via nonlinear static-state feedback, but that the full-order flexible system is not, in general, linearizable in this manner. The concept of integral manifold is utilized to represent the dynamics of the slow subsystem. The slow subsystem reduces to the rigid model as the perturbation parameter µ tends to zero. It is shown that linearizability of the rigid model implies linearizability of the flexible system restricted to the integral manifold. Based on a power series expansion of the integral manifold around µ = 0, it is shown how to approximate the feedback linearizing control to any order in µ. The result is then an approximate feedback linearization which, assuming stability of the fast variables, linearizes the system for all practical purposes.
Starting Page 291
Ending Page 300
Page Count 10
File Size 974497
File Format PDF
ISSN 08824967
Volume Number 3
Issue Number 4
Language English
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date 1987-08-01
Publisher Place U.S.A.
Access Restriction Subscribed
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword Feedback control Manipulators Power system modeling Linear approximation Robot control Integral equations Nonlinear equations Reduced order systems Mechanical systems Nonlinear dynamical systems
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Engineering Electrical and Electronic Engineering Computer Science Applications
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