Force/motion control of constrained manipulators without velocity measurements

DOI10.1109/9.774111zbMath0955.93032OpenAlexW2155237905MaRDI QIDQ4506857

Antonio Loría, Elena Panteley

Publication date: 17 October 2000

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

Full work available at URL: https://semanticscholar.org/paper/835c8727315da184e3a7240c4445592bebd2e17f

zbMATH Keywords

output feedbackconstrained manipulatorsholonomic constraintsuniform asymptotic stabilityforce/tracking control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Holonomic systems related to the dynamics of a system of particles (70F20)

Related Items (3)

Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller ⋮ Trajectory and Force Control of a Manipulator with Elastic Links ⋮ Stabilization of nonlinear dynamic systems using the system state estimates made by the asymptotic observer

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