On the robust nonlinear motion position and force control of flexible joints robot manipulators

DOI10.1023/A:1008099522350zbMath0981.93048OpenAlexW1518914840MaRDI QIDQ1307612

Atef T. Massoud, Tarek Lahdhiri, Hoda A. ElMaraghy

Publication date: 9 November 1999

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1008099522350

zbMATH Keywords

trackingsliding modeflexible jointsrobotic manipulatorfeedback linearizationlinear quadratic estimationrobust nonlinear position and force controller

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Variable structure systems (93B12) Kinematics of mechanisms and robots (70B15)

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