Saturated control without velocity measurements for planar robots with flexible joints
arXiv:1812.08257 · doi:10.1109/CDC40024.2019.9029741
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.
9 figures, 3 tables. A short version of this paper was presented at the 58th Conference on Decision and Control (2019)