Abstract
A linear-state feedback regulator for flexible-joint manipulators is proposed. The link-position vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuator-position vector is regulated to a certain equilibrium point related to the link-desired position. This work uses our earlier result [1] which puts the gravity vector of the robot dynamic model in a new specific form. The fact that the spring matrix representing joint flexibility is of high order of magnitude [3–5] is exploited to prove the global asymptotic stability of the origin of the closed loop system.
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Abouelsoud, A.A., Hassan, M.F. & Sultan, M.A. Output regulation for flexible-joint manipulators using partial state measurement. J Intell Robot Syst 17, 101–110 (1996). https://doi.org/10.1007/BF00435718
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DOI: https://doi.org/10.1007/BF00435718