Abstract
In this article, a tracking controller for flexible-joint robot manipulators with non-full-state feedback is investigated based on virtual decomposition control (VDC) theory. First, virtual decompo...
Highlights
Due to the use of harmonic reducers, hydraulic, cable, or belts drives in the transmission, joint flexibility often occurs in the articulated robots
The singular perturbation method used within the frame of traditional Lagrange integrated dynamic model is only applicable for the robot manipulator with weak joint flexibility
The main contribution of this article is that we develop a non-full-state feedback virtual decomposition control (VDC) approach for flexible-joint robot manipulators
Summary
Due to the use of harmonic reducers, hydraulic, cable, or belts drives in the transmission, joint flexibility often occurs in the articulated robots. Keywords Robot manipulator, flexible joint, virtual decomposition control, extended Kalman filter, trajectory tracking Such VDC-theory-based controllers need full-state feedback from both motor side and link side in the flexible joints.
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