Modeling and Control of Elastic Joint Robots
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robustnessfeedback linearizationdecouplingdynamic modelingintegral manifoldrobot manipulatorsjoint elasticitystatic state-feedback
Kinematics of mechanisms and robots (70B15) Sensitivity (robustness) (93B35) Invariant manifolds for ordinary differential equations (34C45) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95) Elastic materials (74B99)
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(only showing first 100 items - show all)- A novel model manipulation of elastic-joint robots for control purposes
- Design of global tracking controllers for flexible‐joint robots
- Analysis and control of a two-link and three-joint elastic robot arm
- Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics
- A theorem on neutral delay systems
- Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance
- Energy Based Limit Cycle Control of Elastically Actuated Robots
- Hereditary realizations of linear neutral delay-differential systems
- Stochastic approach to kinematic reliability of open-loop mechanism with dimensional tolerance
- A note on the ``nonlinear control of electrical flexible-joint robots
- Fault diagnosis and fault-tolerant control of uncertain network control systems
- Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters
- On the adaptive control of flexible joint robots
- Observers for Lipschitz non-linear systems
- Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities
- Design of sliding observers for Lipschitz nonlinear system using a new time-averaged Lyapunov function
- scientific article; zbMATH DE number 2097482 (Why is no real title available?)
- Robust input-output linearisation using uncertainty and disturbance estimation
- Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
- Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
- Delay-range-dependent observer-based control of nonlinear systems under input and output time-delays
- Tracking control of flexible joint manipulators using only position measurements
- Fault detection and isolation for a class of uncertain nonlinear systems: a dual-monitoring model-based approach
- Robustness of adaptive control of robots
- Feedback linearization of robot manipulators and riemannian curvature
- Observer design for a class of nonlinear systems
- Adaptive control of flexible joint robots using position and velocity feedback
- Nonlinear dynamics of drives with elasticities and friction
- Discrete-time adaptive control for mechanical manipulators having a joint compliance
- Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity
- Modal Control of Fast Large-Scale Robot Motions
- A new approach to robust position/force control of flexible-joint robot manipulators
- Dynamic analysis of flexible-link and flexible-joint robots
- Robust Lyapunov-based control of flexible-joint robots using voltage control strategy
- Global set point control via link position measurement for flexible joint robots
- Performance recovery of regional input-to-state stabilization by sampled-data output feedback control for nonlinear systems in the presence of disturbance
- More on the applications of the contraction mapping method in robotics
- Stabilization of a class of slow-fast control systems at non-hyperbolic points
- Adaptive motion control of rigid robots: A tutorial
- A robust sliding mode control for pneumatic servo systems
- Robust tracking controller design for pneumatic servo system
- Control of constrained manipulators with flexible joints
- A global output feedback controller for flexible joint robots
- Virtual adjustable joint stiffness toward a safer human/robot interaction
- Reduced order observers for the sliding mode control of mechanical systems with elastic joints
- Position control of robot manipulators with elastic joints using force feedback
- Observer design for one-sided Lipschitz discrete-time systems
- Asymptotically stable set point control laws for flexible robots
- Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation
- Dynamics and control of mechanical systems in partly specified motion
- Exact and approximate feedback linearization without the linear controllability assumption
- Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints
- Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints
- A robust adaptive velocity observer for mechanical systems transformed in cascade form
- Infinite dimensional model of a double flexible-link manipulator: the port-Hamiltonian approach
- Nonregular feedback linearization for a class of second-order nonlinear systems
- On the robust control aspect of a class of systems involving interconnected rigid and flexible appendages: case study
- Adaptive type-2 fuzzy estimation of uncertainties in the control of electrically driven flexible-joint robots
- Design of new fuzzy sliding mode controller based on parallel distributed compensation controller and using the scalar \textit{sign} function
- A simple and efficient computational approach for the forward dynamics of elastic robots
- Singular perturbation model of robots with elastic joints and elastic links constrained by rigid environment
- On the force control problem for flexible joint manipulators
- Observer based fault-tolerant control for a class of nonlinear networked control systems
- PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
- Fractional-order dynamics and adaptive dynamic surface control of flexible-joint robots
- scientific article; zbMATH DE number 4101057 (Why is no real title available?)
- On observing nonlinear descriptor systems
- Control of flexible joint robot manipulators by compensating flexibility
- A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach
- scientific article; zbMATH DE number 4018892 (Why is no real title available?)
- End-effector regulation of robots with elastic elements by an iterative scheme
- Observer design for discrete nonlinear descriptor systems
- Exponential tracking and disturbance rejection for Euler-Lagrange systems with high-order actuator dynamics
- Stability and control aspects of flexible link robot manipulators during constrained motion tasks
- Modelling and control of a deformable-link flexible-joint robot
- Adaptive control of flexible joint manipulators
- Sliding mode observer-based fault estimation for nonlinear networked control systems
- Reduction of a mathematical model of a robot with elastic joints
- Combined adaptive neural network and regressor-based trajectory tracking control of flexible joint robots
- Sliding observer-based feedback control for flexible joints manipulator
- To the theory of a single link manipulator with joint elasticity
- Adaptive performance optimal control for flexible-joint robots with random noises: design and experiment
- An atlas of physical human-robot interaction
- Multi-physics modelling of a compliant humanoid robot
- Optimal distributed learning for disturbance rejection in networked non-linear games under unknown dynamics
- Nonlinear observer for simultaneous states and unknown parameter estimation
- Composite adaptive control of flexible joint robots
- Robust constrained gain-scheduled static output feedback controller for NLPV descriptor systems subject to state and input constraints
- Stability and oscillations in a slow-fast flexible joint system with transformation delay
- Robust control of nonlinear mechanical systems using linear feedback
- Bounded decoupling control for flexible-joint robot manipulators with state estimation
- Physics-based output-feedback consensus-formation control of networked autonomous vehicles
- Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters
- A general formulation for the nonlinear dynamics and control of orbiting flexible structures
- Robust microprocessor control of robot manipulators
- On stability and regulation performance for flexible-joint robots with input/output communication delays
- Inverse Force and Motion Control of Constrained Elastic Robots
- Dynamic load carrying capacity of flexible cable suspended robot: Robust feedback linearization control approach
- Stability of robotic manipulators during transition to and from compliant motion
- Stability for feedback loops containing complex algorithms
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