Abstract
In robot manipulators, the joint flexibility may be or not introduced intentionally. Thus, flexible joint robots (FJRs) are useful in aerospace applications and human rehabilitation, for example. Besides, FJRs appear in industrial manipulators. The feedback linearization control has been applied to many mechatronics systems, including FJRs. However, if spring damping between the links and rotors is present, the state feedback linearization design is no longer feasible. In order to overcome this situation, in this paper, an input-output feedback linearization approach is developed to achieve trajectory tracking control of FJRs. The study is complemented with simulation results, which validates the proposed theory. By assuming the presence of spring damping, a comparison between the known state feedback linearization technique and the proposed input-output feedback linearization is given, showing better results for the introduced approach.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
