Saturated control without velocity measurements for planar robots with flexible joints

T. C. Wesselink; P. Borja; J. M. A. Scherpen

doi:10.1109/cdc40024.2019.9029741

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arXiv · 1812.08257

Saturated control without velocity measurements for planar robots with flexible joints

T. C. Wesselink·P. Borja·J. M. A. Scherpen

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Abstract

In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements. Additionally, we present experiments that corroborate the theoretical results of this note.

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T. C. Wesselink, P. Borja, J. M. A. Scherpen. 2018-12-19. Saturated control without velocity measurements for planar robots with flexible joints. https://doi.org/10.1109/cdc40024.2019.9029741

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