A new approach to robust position/force control of flexible-joint robot manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199607)13:7<429::AID-ROB2>3.0.CO;2-Q" /><429::AID-ROB2>3.0.CO;2-Q 10.1002/(SICI)1097-4563(199607)13:7<429::AID-ROB2>3.0.CO;2-QzbMath0891.70019OpenAlexW2019157325MaRDI QIDQ4348634

Gangbing Song, Lilong Cai

Publication date: 19 July 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199607)13:7<429::aid-rob2>3.0.co;2-q

zbMATH Keywords

frictionglobal asymptotic stabilityforced motion

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 (1)

Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment

Cites Work

• Modeling and Control of Elastic Joint Robots
• On the force control problem for flexible joint manipulators
• Joint stick‐slip friction compensation of robot manipulators by using smooth robust controllers

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