Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition

DOI10.1109/9.654886zbMath0906.93040OpenAlexW2153164038MaRDI QIDQ4395812

Wen-Hong Zhu, Joris De Schutter, Zeungnam Bien

Publication date: 16 February 1999

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

Full work available at URL: https://doi.org/10.1109/9.654886

zbMATH Keywords

sliding mode controlrigid bodyLyapunov function methodsrobotic systemvirtual power flowsposition and force controlflexible joint cooperating manipulatorsvirtual decomposition

Mathematics Subject Classification ID

Multivariable systems, multidimensional control systems (93C35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (1)

Independent force and position control for cooperating manipulators.

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