Robustness analysis of nonlinear decoupling for elastic-joint robots

Abstract

A robustness analysis of feedback linearization or nonlinear decoupling is proposed for a class of elastic-joint robot manipulator control loops. It is shown that by splitting the modeling-error nonlinearities of incomplete feedback linearization or nonlinear decoupling by a suitable transformation, a robustness analysis becomes feasible under weak assumptions without the necessity of estimating bounds on derivatives of robot nonlinearities. In principle, systems other than elastic-joint robots can be investigated using the proposed methodology, which makes any robustness analysis and synthesis of feedback linearization or nonlinear decoupling more transparent.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>