Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 45

Chapter 12 discusses the method of nonlinear feedback linearization. Feedback linearization relies on more advanced tools from differential geometry. We discuss the Frobenius theorem, from which we prove necessary and sufficient conditions for a single-input nonlinear system to be equivalent under coordinate transformation and nonlinear feedback to a linear system. We apply the feedback linearization method to the control of elastic-joint robots, for which previous methods such as inverse dynamics cannot be applied.