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Title: Tracking controller design for robot manipulators including motor dynamics
Authors: Yin, Guang.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 1997
Abstract: This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller.
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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