Modified transpose Jacobian control of robotic systems

DOI10.1016/J.AUTOMATICA.2006.12.029zbMath1123.93072OpenAlexW1999200439MaRDI QIDQ2641792

S. Ali A. Moosavian, Evangelos G. Papadopoulos

Publication date: 23 August 2007

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2006.12.029

zbMATH Keywords

stabilitycontrolroboticspath trackingtranspose Jacobian algorithm

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Numerical methods for trigonometric approximation and interpolation (65T40)

Related Items (6)

Prioritized multi-task compliance control of redundant manipulators ⋮ Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances ⋮ Constraint finite-time control of redundant manipulators ⋮ Modal decoupled dynamics feed-forward active force control of spatial multi-DOF parallel robotic manipulator ⋮ Optimal cascaded control of mobile manipulators ⋮ Finite-time trajectory tracking control in a task space of robotic manipulators

Cites Work

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• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems
• Manipulator motion control in operational space using joint velocity inner loops
• A Time Delay Controller for Systems With Unknown Dynamics
• Impedance Control: An Approach to Manipulation: Part III—Applications

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