Prioritized multi-task compliance control of redundant manipulators

DOI10.1016/J.AUTOMATICA.2015.01.015zbMath1371.93138OpenAlexW2002529332WikidataQ61610539 ScholiaQ61610539MaRDI QIDQ2409465

Alexander Dietrich, Alin Albu-Schäffer, Christian Ott

Publication date: 11 October 2017

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2015.01.015

zbMATH Keywords

stability analysisroboticshierarchical controlredundant manipulatorsimpedance control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Robot dynamics and control of rigid bodies (70E60) Artificial intelligence for robotics (68T40)

Related Items (3)

Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties ⋮ Constraint finite-time control of redundant manipulators ⋮ Finite-time trajectory tracking control in a task space of robotic manipulators

Cites Work

• L\(_2\) gain and passivity techniques in nonlinear control.
• Global task-space adaptive control of robot
• Constructive nonlinear control
• Semidefinite Lyapunov functions stability and stabilization
• Modified transpose Jacobian control of robotic systems
• Extended impedance control of redundant manipulators based on weighted decomposition of joint space
• Continuity of Varying-Feature-Set Control Laws

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