OTHER
Robots with elastic joints are linearizable via dynamic feedback
Alessandro De Luca, Leonardo Lanari
- Year
- 2002
- Citations
- 24
Abstract
Proves that the complete dynamic model of robots with elastic joints can always be fully transformed into a linear, controllable, and input-output decoupled system through the use of nonlinear dynamic state feedback.
Keywords
RobotControl theory (sociology)Nonlinear systemComputer scienceState (computer science)Control engineeringNonlinear dynamical systemsOutput feedbackEngineeringArtificial intelligence
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