### Citations

139 |
Modeling and Control of Elastic Joint Robots,”
- Spong
- 1987
(Show Context)
Citation Context ... have uni-sform mass distribution and center of mass on the rotationsaxis [3]. The reduced model assumes further that the ki-snetic energy of the rotors is due only to their spinningsangular velocity =-=[4]-=-.sIn 141, it is shown that the reduced model always satis-sfies the conditions for full linearization via static statesfeedback. This allows to completely solve the trajectorystracking problem using a... |

58 |
A simple PD controller for robots with elastic joints,”
- Tomei
- 1991
(Show Context)
Citation Context ...ferent modelling assumpstions for multi-link elastic joint robots. The completesmodel assumes that the rotors of the actuators have uni-sform mass distribution and center of mass on the rotationsaxis =-=[3]-=-. The reduced model assumes further that the ki-snetic energy of the rotors is due only to their spinningsangular velocity [4].sIn 141, it is shown that the reduced model always satis-sfies the condit... |

28 | Redefinition of the Robot Motion Control Problem," - Sweet, Good - 1985 |

11 |
Dynamic control of robots with joint elasticity.
- Luca
- 1988
(Show Context)
Citation Context ... in order to achieve full linearization andsdecoupling, useful for obtaining global tracking results. Insparticular, the overall design of a fourth-order nonlinearsdynamic compensator is presented in =-=[8]-=- for a planar 2Rsarm (an eight-dimensional state-space system). The ob-stained closed-loop system is equivalent to two chains of sixsinput-output integrators, for which the tracking problemslanari@ris... |

6 |
On the Feedback Control of Industrial Robots With Elastic Joints: A Singular Perturbation Approach,"
- Marino, Nicosia
- 1984
(Show Context)
Citation Context ...lows to completely solve the trajectorystracking problem using a nonlinear control law, by takingsadvantage of the feedback transformation into a linearssystem.sOn the contrary, it was first shown in =-=[5]-=- that the com-splete model of a 3R robot with elastic joints violates thesnecessary conditions for linearization via static state feed-sback. If the extra terms that characterize the completesmodel ar... |

3 | Control properties of robot arms with joint elasticity,” in Analysis and Control of Nonlinear Systems - Luca - 1988 |

1 | On the feedback lin- earization of robots with elastic joints - Nicosia, Tomei - 1988 |

1 | A PD control law for trajectory tracking of flexible joint robots - Nicosia, Tomei - 1991 |

1 |
A suf- ficient condition for full linearization via dynamic state feedback
- Isidori, Moog, et al.
- 1986
(Show Context)
Citation Context ...spose, we take advantage of some insights in the structuresof the model, as shown in [3], and of an easy-techeck suf-sficient condition for full linearization via dynamic statesfeedback introduced in =-=[lo]-=-.s2. DYNAMIC MODEL OF ELASTIC JOINT ROBOTSsWe consider the complete dynamic model of a multi-linksrobot with elastic joints given in [3]:sBi(qe)& +Ba(qe)ij, + [CAi(qe,qm) + cs i (qe ,qe ) ]Qes+ CB2(Qe... |

1 |
Decoupling with dy- namic compensation for strong invertible a f h e nonlinear systems
- Descusse, Moog
- 1985
(Show Context)
Citation Context ...le;sii) has no zero-dynamicssThen, the system (3) can be fully linearized via dynamicsstate feedback of the form (4).sThe two assumptions of Theorem 1 guarantee that, whensthe decoupling procedure of =-=[ll]-=- is applied, the repeatedsuse of invertible static state feedback plus dynamic ex-stension by input integrators does not introduce zero-sdynamics when the original system has none. The invert-sibility... |