A feedforward decoupling concept for the control of elastic robots

DOI10.1002/ROB.4620060407MaRDI QIDQ3827576zbMATH OpenOpenAlexFDO

Authors Friedrich Pfeiffer

Publication date 1989

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620060407

zbMATH Keywords

controlling elastic robotsfeedforward decoupling schemeoptimal path planning methodreference-oriented procedurestrain gauge measurements

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Application models in control theory (93C95)

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Cited in

(7)

• Stabilization of an elastic robot by a proportional-differential controller
• Energy minimization approach for a two-link flexible manipulator
• Feedback control of one-link flexible manipulator with gear train
• A simple and efficient computational approach for the forward dynamics of elastic robots
• Decoupling and feedback linearization of robots with mixed rigid/elastic joints
• Joint space trajectory planning for flexible manipulators
• Energy Based Limit Cycle Control of Elastically Actuated Robots

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