On the Stability of Robot Compliant Motion Control: Theory and Experiments

DOI10.1115/1.2896159zbMath0712.70065OpenAlexW1977725241MaRDI QIDQ3197437

Hamid Tabaei Kazerooni, B. J. Waibel, S. Kim

Publication date: 1990

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2896159

zbMATH Keywords

stability analysisrobot manipulatorsLagrangian approachMinnesota direct drive robot

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (3)

Adaptive explicit force control of position-controlled manipulators ⋮ Discussion on: ``Impact control of a single-link robot striking different environments: theoretical and experimental investigation ⋮ Direct adaptive impedance control of robot manipulators

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