Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping

DOI10.1115/1.3143766MaRDI QIDQ3728753zbMATH OpenOpenAlexFDO

Authors Sahjendra N. Singh, A. A. Schy

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143766

zbMATH Keywords

control lawdecompositionflexible robotic systems

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Inverse problems for waves in solid mechanics (74J25) Thin bodies, structures (74K99) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20)

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Cited in

(16)

• Stabilization of an elastic robot by a proportional-differential controller
• Nonlinear dynamics and control of an inertially actuated jumper robot
• Dual mode control of an elastic robotic arm: non-linear inversion and stabilization by pole assignment
• Variable structure control of a robotic arm in the presence of uncertainty
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Nonlinear ultimate boundedness control and stabilization of a flexible robotic arm
• Variable structure trajectory control of an elastic robotic arm
• Direct adaptive control of a one‐link flexible arm with tracking
• On control and optimization of elastic multilink mechanisms
• scientific article; zbMATH DE number 1049489 (Why is no real title available?)
• Control of a single‐link flexibe manipulator fabricated form composite laminates
• Inverse Force and Motion Control of Constrained Elastic Robots
• Stable inversion of nonlinear non-minimum phase systems
• Adaptive neural network output feedback control for flexible multi-link robotic manipulators
• Control of Elastic Systems via Passivity-Based Methods
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