Stabilization of robot motion and contact force interaction for third- order motor dynamics

DOI10.1007/BF01258261zbMath0815.93056OpenAlexW2051553124MaRDI QIDQ1343753

Yuri Ekalo, Miomir Vukobratović

Publication date: 6 February 1995

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

Full work available at URL: https://doi.org/10.1007/bf01258261

zbMATH Keywords

stabilizationhybrid controlimpedance controlsynthesis of control laws

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Synthesis problems (93B50)

Cites Work

• Applied dynamics and CAD of manipulation robots
• Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment
• Impedance Control: An Approach to Manipulation: Part I—Theory

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