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Decoupling and feedback linearization of robots with mixed rigid/elastic joints
Author(s) -
De Luca Alessandro
Publication year - 1998
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199809)8:11<965::aid-rnc371>3.0.co;2-4
Subject(s) - decoupling (probability) , control theory (sociology) , linearization , robot , feedback linearization , elasticity (physics) , computer science , state variable , mathematics , nonlinear system , control engineering , control (management) , engineering , artificial intelligence , physics , quantum mechanics , thermodynamics
We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non‐negligible elasticity. We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback. For the mixed rigid/elastic joint case, we give structural necessary and sufficient conditions for input–output decoupling and full‐state linearization via static state feedback. These turn out to be very restrictive. However, when a robot fails to satisfy these conditions, we show that a physically motivated dynamic state feedback will always guarantee the same result. The analysis is performed without resorting to the state‐space equation format. As a result, the explicit form of the exact linearizing and input–output decoupling controllers is provided directly in terms of the robot dynamic model terms. © 1998 John Wiley & Sons, Ltd.