State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots
نویسندگان
چکیده
The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.
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