Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

DOI10.1016/0005-1098(96)00087-8zbMath0867.93058OpenAlexW2050229045MaRDI QIDQ674945

Amit Ailon

Publication date: 16 July 1997

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(96)00087-8

zbMATH Keywords

iterative proceduresflexible-joint robotglobal contraction mappingposition measurementset-point regulation problem

Mathematics Subject Classification ID

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

Related Items (5)

Two-way fuzzy adaptive identification and control of a flexible-joint robot arm ⋮ Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity ⋮ More on the applications of the contraction mapping method in robotics ⋮ Stability analysis of a rigid robot with output-based controller and time delay ⋮ Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

Cites Work

• Unnamed Item
• An observer-based set-point controller for robot manipulators with flexible joints
• An iterative scheme for learning gravity compensation in flexible robot arms
• Global regulation of flexible joint robots using approximate differentiation
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• Robot control by using only joint position measurements

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