Energy regulation of torque-driven robot manipulators in joint space

DOI10.1016/j.jfranklin.2022.01.034zbMath1483.93443OpenAlexW4206911360MaRDI QIDQ2667448

Jesús Sandoval, Jorge Villalobos-Chin, Rafael Kelly, Victor Santibáñez

Publication date: 4 March 2022

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2022.01.034

zbMATH Keywords

energy regulationdamping injectiontorque-driven robot manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items

Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation, Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

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