ROBUSTNESS ANALYSIS OF NONLINEAR DECOUPLING FOR ELASTIC-JOINT ROBOTS

被引：9
作者：
GRIMM, WM
机构：
[1] Fachgebiet Mess-und Regelungstechnik, University of Duisburg
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 03期
关键词：
D O I：
10.1109/70.56656
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this communication, 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. © 1990 IEEE
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页码：373 / 377
页数：5
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