Estimates of flexible-joint robot model response times and some control applications

DOI10.1016/0167-6911(94)00102-2zbMath0877.93075OpenAlexW2062839777MaRDI QIDQ672688

Amit Ailon

Publication date: 28 February 1997

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(94)00102-2

zbMATH Keywords

response timetransient responseFlexible-joint robot controlMeasure of total energyReduced-order observer

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Observability (93B07)

Related Items (2)

Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control. ⋮ A study on the time-response functions of robot models incorporating actuator dynamics with applications to estimator design

Cites Work

• On the existence of time-optimal control of mechanical manipulators
• Stable observer-based trajectory controller for asymptotic model matching of a rigid robot
• A Less Conservative LMI Condition for Stability of Discrete-Time Systems With Slope-Restricted Nonlinearities
• The control of robot manipulators with bounded input
• Robot control by using only joint position measurements

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