OTHER
Tracking control design for robots using the method of nonlinearity estimation and compensation
R. Hu, Peter C. Müller
- Year
- 2002
- Citations
- 2
Abstract
As an alternative to the method of inverse dynamics and feedback linearization, a new approach for robot control called nonlinearity estimation and compensation is presented. Some new results and details are given on how this approach is used to design the tracking controllers for both rigid-body robots and robots with elastic joints.
Keywords
RobotControl theory (sociology)Compensation (psychology)Tracking (education)Nonlinear systemFeedback linearizationLinearizationInverse dynamicsComputer scienceControl engineering
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