Control of constrained manipulators with flexible joints

DOI10.1007/BF02169460zbMath0894.93032OpenAlexW2000825214MaRDI QIDQ1911408

Wang, Danwei, Yeng Chai Soh

Publication date: 30 August 1998

Published in: Dynamics and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf02169460

zbMATH Keywords

contactfeedforwardPD controllerglobal regulationflexible manipulatorsconstrained end-effectorforce regulation

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Related Items (1)

Trajectory and Force Control of a Manipulator with Elastic Links

Cites Work

• Feedback stabilization and tracking of constrained robots
• Modeling and Control of Elastic Joint Robots
• On the force control problem for flexible joint manipulators
• <tex>L_infty</tex>-stability criteria for interconnected systems using exponential weighting

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