ESTIMATES OF FLEXIBLE-JOINT ROBOT MODEL RESPONSE-TIMES AND SOME CONTROL APPLICATIONS

Authors
AILON A
Citation
A. Ailon, ESTIMATES OF FLEXIBLE-JOINT ROBOT MODEL RESPONSE-TIMES AND SOME CONTROL APPLICATIONS, Systems & control letters, 26(2), 1995, pp. 79-85
Citations number
9
Categorie Soggetti
Controlo Theory & Cybernetics","System Science","Operatione Research & Management Science
Journal title
Systems & control letters → ACNP
ISSN journal
01676911
Volume
26
Issue
2
Year of publication
1995
Pages
79 - 85
Database
ISI
SICI code
0167-6911(1995)26:2<79:EOFRMR>2.0.ZU;2-M
Abstract
The basic problem of estimating the response time of a flexible-joint robot is considered. An upper bound on the robot's velocity and elasti c displacement vector norms has been established. Applications of the results are considered. The design of a reduced-order observer for a f lexible-joint robot is demonstrated, regardless of a prerequisite assu mption concerning the boundedness of the velocity norm.