Feedback Linearization of Differential-Algebraic Systems and Force and Position Control of Manipulators

@article{Yim1993FeedbackLO,
  title={Feedback Linearization of Differential-Algebraic Systems and Force and Position Control of Manipulators},
  author={Woosoon Yim and Sahjendra N. Singh},
  journal={1993 American Control Conference},
  year={1993},
  pages={2279-2283}
}
The question of realization and feedback linearization of a class of differential-algebraic systems is considered. Based on nonlinear inversion of an input-output map, an analytical expression for the constraint force vector satisfying the algebraic constraints is derived. In this derivation, certain requirements on the relative degree of the output variables are relaxed. Using a new representation of the system in an extended state space, a control law is derived for the independent control of… CONTINUE READING
6 Citations
1 References
Similar Papers

References

Publications referenced by this paper.

Feedback Stablization andTrakino Coined Robots Nonlinear Feedback for Force Control of Robot Manipulators , " Advances in Robotic System Hybrid Postion / Force Co tr of Manipulators

  • Khatib
  • Journal o Dynamic Systems , Measurement , and…

Similar Papers

Loading similar papers…