Adaptive control of flexible manipulators carrying large uncertain payloads

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199604)13:4<219::AID-ROB3>3.0.CO;2-U" /><219::AID-ROB3>3.0.CO;2-U 10.1002/(SICI)1097-4563(199604)13:4<219::AID-ROB3>3.0.CO;2-UzbMath0882.70022OpenAlexW2091079047MaRDI QIDQ4348596

Christopher John Damaren

Publication date: 18 August 1997

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199604)13:4<219::aid-rob3>3.0.co;2-u

zbMATH Keywords

revolute jointsCartesian end-effector coordinatesfiltered errorglobally stable trackingsix DOF manipulator

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (2)

The control of flexible-link robots manipulating large payloads: Theory and experiments ⋮ Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition

Cites Work

• Adaptive control of flexible joint manipulators
• Adaptive motion control of rigid robots: A tutorial
• Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
• Adaptive motion control design of robot manipulators: an input-output approach
• Inversion techniques for trajectory control of flexible robot arms
• Adaptive control of robot manipulators with flexible joints
• Direct adaptive control of a one‐link flexible arm with tracking
• Inversion-based nonlinear control of robot arms with flexible links
• Dynamics of an elastic multibody chain: part a—body motion equations
• Dynamics of an elastic multibody chain: Part B—Global dynamics
• Passivity analysis for flexible multilink space manipulators
• Simulation of Flexible-Link Manipulators With Inertial and Geometric Nonlinearities
• Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto

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