Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback

[+] Author and Article Information
Alejandro Rodriguez-Angeles

Henk Nijmeijer

Eindhoven University of Technology, Department of Mechanical Engineering, P.O. Box 513, 5600 MB Eindhoven, The Netherlandse-mail: H.Nijmeijer@tue.nl

J. Dyn. Sys., Meas., Control 126(1), 162-172 (Apr 12, 2004) (11 pages) doi:10.1115/1.1636197 History: Received October 22, 2001; Revised April 22, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
Master and slave link positions qm,qs, and synchronization position error e
Grahic Jump Location
Input torque τs and estimation synchronization position error ẽ
Grahic Jump Location
Estimation link and motor position error q̃,θ̃




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