Inversion-based nonlinear control of robot arms with flexible links

DOI10.2514/3.21142zbMath0800.93891OpenAlexW2028054788MaRDI QIDQ4290228

Alessandro De Luca, Bruno Siciliano

Publication date: 3 May 1994

Published in: Journal of Guidance, Control, and Dynamics (Search for Journal in Brave)

Full work available at URL: https://semanticscholar.org/paper/945e039a7b10dc536dd6885185c8fbfb844f8684

Mathematics Subject Classification ID

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

Related Items (8)

Adaptive control of flexible manipulators carrying large uncertain payloads ⋮ Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters ⋮ Screw theoretic view on dynamics of spatially compliant beam ⋮ Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization ⋮ Workspace tracking control of two-flexible-link manipulator using distributed control strategy ⋮ Tracking control of flexible robot arms with a nonlinear observer ⋮ Control of a 2-DOF manipulator with a flexible forearm. ⋮ Modelling flexible multi-link robots for vibration control: Numerical simulations and real-time experiments

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