Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator

被引：0
|
作者：
Lahdhiri, T [1 ]
ElMaraghy, HA
机构：
[1] Univ Windsor, Intelligent Mfg Syst Ctr, Windsor, ON N9B 3P4, Canada
[2] Univ Windsor, Fac Engn, Windsor, ON N9B 3P4, Canada
来源：
EXPERIMENTAL ROBOTICS V | 1998年 / 232卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design of an optimal nonlinear position tracking controller for an experimental two-link flexible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR control design techniques. The proposed control approach reduces the number of required measurement sensors and takes into account the effects of measurement noises. Simulation and preliminary experimental results demonstrate the potential benefits of the proposed control approach in reaching the desired system performance with minimum control effort and equipments.
引用
收藏
页码：503 / 514
页数：12
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