Hybrid force and motion control of robots with flexible links

DOI10.1016/J.MECHMACHTHEORY.2009.08.004zbMath1281.70008OpenAlexW1994208206MaRDI QIDQ1046629

Sinan Kilicaslan, S. Kemal Ider, M. Kemal Ozgoren

Publication date: 22 December 2009

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2009.08.004

zbMATH Keywords

flexible manipulatorsflexible robotsconstrained motion controlforce and motion controlmodeling discrepancypseudostatic equilibrium

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Cites Work

• Dynamic modelling of a rigid-flexible manipulator for constrained motion task control
• Compliant control of a two-link flexible manipulator featuring piezoelectric actuators
• A Lyapunov function for some naturally-occurring linear homogeneous time-dependent equations
• Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach
• Dynamic hybrid position/force control of a two degree‐of‐freedom flexible manipulator
• Force and Motion Control of a Constrained Flexible Robot Arm
• Unconstrained and constrained motion control of a planar two‐link structurally flexible robotic manipulator
• Linear Quadratic Frequency-Shaped Implicit Force Control of Flexible Link Manipulators
• Inverse Force and Motion Control of Constrained Elastic Robots

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