Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing

DOI10.1049/IP-CTA:19951970zbMath0837.93047OpenAlexW2004841531MaRDI QIDQ4859796

M. M. Bridges, Darren M. Dawson

Publication date: 8 February 1996

Published in: IEE Proceedings - Control Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1049/ip-cta:19951970

zbMATH Keywords

stabilitytrackingdesignflexible-joint robot manipulatorsharmonic drive gearingtorque transmission dynamics

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

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