Compliant control of a two-link flexible manipulator by constraint Hamiltonian system

DOI10.1016/S0094-114X(97)00041-4zbMath0980.93054OpenAlexW1972607966MaRDI QIDQ1301079

Seung-Bok Choi, Hyuc-Bum Lee, Brian S. Thompson

Publication date: 6 September 1999

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

Full work available at URL: https://doi.org/10.1016/s0094-114x(97)00041-4

zbMATH Keywords

stabilityHamiltonian systemflexibilityrobotic manipulatorconstraintsholonomic systemsdeformable bodiesend-effectortwo-link flexible manipulator

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Kinematics of mechanisms and robots (70B15)

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