Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Controller design for single link robot with flexible joint using nonlinear observer

비선형 관측기를 이용한 유연한 관절을 가진 로봇 팔의 제어기 구성

  • Lee, Jang-W. (School of Electrical Eng. Seoul National University) ;
  • Seo, Jin-H. (School of Electrical Eng. Seoul National University)
  • 이장원 (서울대학교 공과 대학 전기공학부) ;
  • 서진헌 (서울대학교 공과 대학 전기공학부)
  • Published : 1996.07.22
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Abstract

A canonical form observer design method for nonlinear systems is studied. Through this method, an observer of single link robot system with flexible joint is proposed. It is shown through simulation that the system can be stabilized when using the nonlinear feedback linearizing controller and the supposed observer.

Keywords