Compliant motion control for robot manipulators

DOI10.1080/00207178908559664MaRDI QIDQ4731102zbMATH OpenOpenAlexFDO

Authors Hamid Tabaei Kazerooni

Publication date 1989

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207178908559664

zbMATH Keywords

bounded uncertaintiesnon-linear controller designrobot manipulators

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Application models in control theory (93C95)

Recommendations

• Compliant motion control for non-redundant rigid robotic manipulators
• On the Robot Compliant Motion Control
• Control of flexible joint robot manipulators by compensating flexibility
• Composite adaptive control of robot manipulators
• Stability of robotic manipulators during transition to and from compliant motion
• Motion control for kinematically redundant manipulator robots
• Robust compensation for a robotic manipulator
• Robust adaptive force/motion control of constrained robots

Cites work

• <tex>L_infty</tex>-stability criteria for interconnected systems using exponential weighting
• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• Impedance Control: An Approach to Manipulation: Part I—Theory
• On the loop transfer recovery
• Robustness results in linear-quadratic Gaussian based multivariable control designs

Cited in

(19)

• Nonlinear feedback control of robot manipulator and compliant wrist
• Stabilization of robot motion and contact force interaction for third- order motor dynamics
• An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
• Virtual musculoskeletal control model with a spindle-like fuzzy algorithm for robotic compliance
• A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers
• Compliant motions and force/moment constraints in the presence of uncertainties
• Manipulation primitives -- a universal interface between sensor-based motion control and robot programming
• On the Robot Compliant Motion Control
• scientific article; zbMATH DE number 5762696 (Why is no real title available?)
• scientific article; zbMATH DE number 1360082 (Why is no real title available?)
• Generalised command matching for a robot gripping an inertial load
• Switching manipulator control for motion on constrained surfaces
• Compliant motion control for non-redundant rigid robotic manipulators
• Compliance control safety: An architecture‐independent analysis
• scientific article; zbMATH DE number 939124 (Why is no real title available?)
• Passivity-based control of robotic manipulators for safe cooperation with humans
• Stability of robotic manipulators during transition to and from compliant motion
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
• Winching up heavy loads with a compliant arm: a new local joint controller

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