caa a22 4500 465797660 CHVBK 20180323112043.0 cr unu---uuuuu 170327e19900901xx s 000 0 eng 10.1007/BF00126073 doi (NATIONALLICENCE)springer-10.1007/BF00126073 Robust pole assignment for incomplete nonlinear decoupling applied to robots [Elektronische Daten] [Wolfgang Grimm, Paul Frank] A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H 1- and H ∞- norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment. Kluwer Academic Publishers, 1990 Nonlinear decoupling nationallicence feedback linearization nationallicence functional analysis nationallicence elastic robots nationallicence robustness nationallicence stability nationallicence pole assignment nationallicence nonlinear systems nationallicence robot control nationallicence Grimm Wolfgang Universität Duisburg, FB 9, MRT, Bismarckstraße 81, BB, D-4100, Duisburg 1, West Germany aut Frank Paul Universität Duisburg, FB 9, MRT, Bismarckstraße 81, BB, D-4100, Duisburg 1, West Germany aut Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 259-289 0921-0296 3:3<259 1990 3 10846 https://doi.org/10.1007/BF00126073 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00126073 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Grimm Wolfgang Universität Duisburg, FB 9, MRT, Bismarckstraße 81, BB, D-4100, Duisburg 1, West Germany aut NATIONALLICENCE 700 1- Frank Paul Universität Duisburg, FB 9, MRT, Bismarckstraße 81, BB, D-4100, Duisburg 1, West Germany aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 259-289 0921-0296 3:3<259 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer