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Gyurkovics, Éva
Svirko D
2016-09-04T21:31:38Z
2016-09-04T21:31:38Z
2002
http://hdl.handle.net/10890/3252
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots which needs the measurements of the positions of each motor rotor and link. For the proposed observer, the error equation is locally exponentially stable about the origin, with a region of convergence which may be arbitrarily enlarged by a suitable choice of the observer gain. The results are illustrated by simulation examples.
en
Budapest University of Technology and Economics
A nonlinear observer for flexible joint robots
folyóiratcikk
Kiadói változat
Open access
2637429
0037002149
0324-6051
1587-379x
2
46
Periodica Polytechnica - Mechanical Engineering
flexible joints
nonlinear systems
nonlinear observers
exponential stability
Tudományos cikk
127
137


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