An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators

DOI<649::AID-ROB2>3.0.CO;2-L 10.1002/(SICI)1097-4563(199709)14:9<649::AID-ROB2>3.0.CO;2-LzbMath0895.70019OpenAlexW2053020951MaRDI QIDQ4362189

M. Moallem, Khashayar Khorasani, Rajni V. Patel

Publication date: 27 September 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199709)14:9<649::aid-rob2>3.0.co;2-l

zbMATH Keywords

zero dynamicsclosed loop systemcontrol inputsapproximate trackingsingle- and two-link flexible manipulatorsstable asymptotic tracking

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (6)

Trajectory and Force Control of a Manipulator with Elastic Links ⋮ Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization ⋮ Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments ⋮ An integral manifold approach to tracking control for a class of non-minimum phase linear systems using output feedback ⋮ Design of an Actuated Flexible Arm for Improved Vibration Properties ⋮ COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES

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