@inbook{00fce02aea0c4a2f89700c40e364582a,
title = "Experimental evaluation of link position tracking controllers for rigid-link flexible-joint robots",
abstract = "In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint (RLFJ) robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order model based controller offers some further improvement in link position tracking at the expense of increased computation.",
author = "\{de Queiroz\}, \{M. S.\} and S. Donepudi and T. Burg and Dawson, \{D. M.\}",
year = "1996",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
pages = "4092--4097",
editor = "Anon",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",
note = "Proceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) ; Conference date: 11-12-1996 Through 13-12-1996",
}