On the feedback linearization of robots with elastic joints

Abstract

Robotic manipulators in which the joints exhibit a certain amount of elasticity are considered. Necessary and sufficient conditions are given under which these systems can be linearized by state feedback and suitable change of coordinates. Conditions which allow an approximate feedback linearization are also derived. Simulation results for a three-degree-of-freedom robot are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>