PD control of robot manipulators with joint flexibility, actuators dynamics and friction

DOI10.1016/S0005-1098(99)00083-7zbMath0949.93055OpenAlexW1963761753WikidataQ127883618 ScholiaQ127883618MaRDI QIDQ1805984

Yanyan Li

Publication date: 5 December 2000

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(99)00083-7

zbMATH Keywords

passivityfrictionPD controlrobotic manipulatorsjoint flexibilitystabilization convergence

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

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