Joint torque control by a direct feedback for industrial robots

DOI10.1109/TAC.1983.1103215zbMath0502.93057OpenAlexW4250904644MaRDI QIDQ3968847

J. Y. S. Luh, William D. Fisher, Richard P. Paul

Publication date: 1983

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

Full work available at URL: https://doi.org/10.1109/tac.1983.1103215

zbMATH Keywords

frequency domain methodsclosed-loop system stabilitycontrol of industrial manipulatorstorque feedbacks

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Stability for nonlinear problems in mechanics (70K20) Forced motions for nonlinear problems in mechanics (70K40) Phase plane analysis, limit cycles for nonlinear problems in mechanics (70K05)

Related Items (4)

A survey of models, analysis tools and compensation methods for the control of machines with friction ⋮ Cartesian coordinate model reference control for a robot manipulator ⋮ Adaptive bearing friction compensation based on recent knowledge of dynamic friction ⋮ The precise control of manipulators with high joint-friction using base force/torque sensing

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