Global regulation of elastic joint robots based on energy shaping

DOI10.1109/9.720506zbMath0956.93046OpenAlexW2140700002MaRDI QIDQ4506576

Rafael Kelly, Victor Santibáñez

Publication date: 17 October 2000

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

Full work available at URL: https://doi.org/10.1109/9.720506

zbMATH Keywords

flexible structurepotential energiesrigid robot manipulatorsdamping injectionelastic joint robotsenergy-shaping methodologyglobal regulator design

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Kinematics of mechanisms and robots (70B15)

Related Items (2)

Energy regulation of torque-driven robot manipulators in joint space ⋮ A family of hyperbolic-type control schemes for robot manipulators

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