Experimental control of a single-link flexible robot arm using energy shaping

DOI10.1080/00207720601014255zbMath1111.93057OpenAlexW1989605873MaRDI QIDQ3437478

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Publication date: 9 May 2007

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207720601014255

zbMATH Keywords

energy shapingpassivity based controlunder-actuated systemsflexible robotic arms

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Linear systems in control theory (93C05) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15) Artificial intelligence for robotics (68T40)

Related Items (3)

End-effector trajectory tracking of a flexible link manipulator using integral manifold concept ⋮ Model-based and model-free control of flexible-link robots: A comparison between representative methods ⋮ Design of Trajectories with Physical Constraints for very Lightweight Single Link Flexible Arms

Cites Work

• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Theory of robot control
• Experimental study for trajectory tracking of a two-link flexible manipulator
• COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments

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