On the force control problem for flexible joint manipulators

DOI10.1109/9.8661zbMath0667.93074OpenAlexW2069626782MaRDI QIDQ3820496

Mark W. Spong

Publication date: 1989

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.8661

zbMATH Keywords

integral manifoldsingularly perturbed systemrobot controlforce controlhybrid positionstatic state-feedbackelasticity at the jointsJoint elasticitytwo-time scale composite control lawvibrations in industrial robot arms

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Application models in control theory (93C95) Control of mechanical systems (70Q05)

Related Items (5)

A new approach to robust position/force control of flexible-joint robot manipulators ⋮ Control of constrained manipulators with flexible joints ⋮ On stability and regulation performance for flexible-joint robots with input/output communication delays ⋮ Model reduction and composite control for overhead hoist transport system by singular perturbation technique ⋮ PD control with on-line gravity compensation for robots with elastic joints: theory and experiments

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