Inversion techniques for trajectory control of flexible robot arms

DOI10.1002/ROB.4620060403MaRDI QIDQ3827574zbMATH OpenOpenAlexWikidataFDO

Authors Alessandro De Luca, Pasquale Lucibello, G. Ulivi

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.4620060403

zbMATH Keywords

closed-loop stabilityclosed-loop trajectory control of flexible robotsdynamic generator systemflexible arminversion techniqueone-link flexible armtracking performance

Mathematics Subject Classification ID

Pfaffian systems (58A17) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Application models in control theory (93C95)

Recommendations

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Cites work

• Invertibility of multivariable nonlinear control systems
• Local stabilization of minimum-phase nonlinear systems
• Output tracking in multivariable nonlinear systems

Cited in

(27)

• Experiments on output tracking with internal stability by learning for a one-link flexible arm
• Output regulation of a flexible spacecraft with exponentially stable/unstable internal dynamics
• Output zeroing with internal stability by learning
• Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization
• Use of inverse dynamics for trajectory tracking of flexible-link manipulator with account of link shortening effect
• Trajectory control of serial and parallel flexible manipulators using model inversion
• An adaptive scheme for robot joint trajectory generation
• Trajectory control of a PUMA robot arm by inversion and servocompensation
• The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
• Nonlinear ultimate boundedness control and stabilization of a flexible robotic arm
• scientific article; zbMATH DE number 124690 (Why is no real title available?)
• Variable structure trajectory control of an elastic robotic arm
• Existence and uniqueness of solutions of the inverse dynamics of multilink flexible arms: Convergence of a numerical scheme
• Trajectory control of a non-linear one-link flexible arm
• Inverse cartesian trajectory control and stabilization of a three‐axis flexible manipulator
• Predictive end-point trajectory control of elastic manipulators
• Adaptive control of flexible manipulators carrying large uncertain payloads
• An Inverse Dynamics Algorithm for Multiple Flexible-Link Manipulators
• Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm
• Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties
• Inverse Force and Motion Control of Constrained Elastic Robots
• INVERSE DYNAMICS CONTROL OF CONSTRAINED ROBOTS IN THE PRESENCE OF JOINT FLEXIBILITY
• Design, dynamic modelling and experimental validation of a 2-DOF flexible antenna sensor
• Feed-forward torques and reference trajectory for an arm with flexible joints
• An existence condition for the inverse dynamics solution of a slewing Euler-Bernoulli beam
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments
• Embedding reference dynamics in model predictive control for trajectory tracking of multi-input multi-output non-minimum phase underactuated multibody systems

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