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A general algorithm for dynamic feedback linearization of robots with elastic joints
Abstract
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control design is performed directly on the second-order robot dynamic equations. The linearizing control law is expressed in terms of the original model components and of their time derivatives, allowing an efficient organization of computations. A tight upper bound for the dimension of the needed dynamic compensator is also obtained.
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Cited by
Model learning for robot control: A survey
Nguyen-Tuong, D., & Peters, J. (2011) · Cognitive Processing · doi:10.1007/s10339-011-0404-1 · Cited by 503
On a new generation of torque controlled light-weight robots
Hirzinger, G., Albu-Schaffer, A., Hahnle, M., Schaefer, I., & Sporer, N. (2002) · Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) · doi:10.1109/robot.2001.933136 · Cited by 305
PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments
De Luca, A., Siciliano, B., & Zollo, L. (2005) · Automatica · doi:10.1016/j.automatica.2005.05.009 · Cited by 280
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Metadata
- Authors
- de Luca, A., & Lucibello, P.
- Venue
- Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 1
- Pages
- 504-510
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2105984753
- Cited by
- 194
- References
- 0
- FWCI
- 21.69
- Type
- conference paper
- Language
- en
- Open access
- closed
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- de Luca, A., & Lucibello, P. (2002). A general algorithm for dynamic feedback linearization of robots with elastic joints. Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146). https://doi.org/10.1109/robot.1998.677024
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