Modeling and Control of Elastic Joint Robots
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decouplingdynamic modelingfeedback linearizationintegral manifoldjoint elasticityrobot manipulatorsrobustnessstatic state-feedback
Invariant manifolds for ordinary differential equations (34C45) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Elastic materials (74B99) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)
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Cited in
(only showing first 100 items - show all)- A theorem on neutral delay systems
- Robust microprocessor control of robot manipulators
- On the adaptive control of flexible joint robots
- Asymptotically stable set point control laws for flexible robots
- Robustness of adaptive control of robots
- Singular perturbation model of robots with elastic joints and elastic links constrained by rigid environment
- Motional stabilization of the elastic manipulator
- 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
- A novel model manipulation of elastic-joint robots for control purposes
- Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems
- Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
- A robust sliding mode control for pneumatic servo systems
- Robust tracking controller design for pneumatic servo system
- On observing nonlinear descriptor systems
- Robust Lyapunov-based control of flexible-joint robots using voltage control strategy
- On the method of energy shaping via static output feedback for stabilization of mechanical systems
- Delay-range-dependent observer-based control of nonlinear systems under input and output time-delays
- Observer synthesis under time-varying sampling for Lipschitz nonlinear systems
- A note on the ``nonlinear control of electrical flexible-joint robots
- Stabilization of a class of slow-fast control systems at non-hyperbolic points
- Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator
- Distributed control of cluster lag consensus for first-order multi-agent systems on QUAD vector fields
- Composite adaptive control of flexible joint robots
- Sliding observer-based feedback control for flexible joints manipulator
- Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics
- Robust control of nonlinear mechanical systems using linear feedback
- Adaptive control of flexible joint manipulators: Comments on two papers
- A simple iterative learning controller for manipulators with flexible joints
- Global tracking controllers for flexible-joint manipulators: A comparative study
- A global output feedback controller for flexible joint robots
- Adaptive controller design for flexible joint manipulators
- Control of constrained manipulators with flexible joints
- Implementation of a fuzzy TSK controller for a flexible joint robot
- Exact and approximate feedback linearization without the linear controllability assumption
- Observer-based adaptive event-triggered sliding mode control of saturated nonlinear networked systems with cyber-attacks
- Virtual adjustable joint stiffness toward a safer human/robot interaction
- Stability for feedback loops containing complex algorithms
- Infinite dimensional model of a double flexible-link manipulator: the port-Hamiltonian approach
- Impulsive observer design for a class of nonlinear Lipschitz systems with time-varying uncertainties
- Impulsive observer-based stabilization for a class of Lipschitz nonlinear systems with time-varying uncertainties
- Design of new fuzzy sliding mode controller based on parallel distributed compensation controller and using the scalar \textit{sign} function
- Adaptive sliding mode control of \(n\) flexible-joint robot manipulators in the presence of structured and unstructured uncertainties
- Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances
- Multi-physics modelling of a compliant humanoid robot
- Robust adaptive control of revolute flexible-joint manipulators using sliding technique
- A model of open-loop control of equilibrium position and stiffness of the human elbow joint
- An atlas of physical human-robot interaction
- Parameter fault detection and estimation of a class of nonlinear systems using observers
- PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
- Analysis and control of a two-link and three-joint elastic robot arm
- MIMO ILC using complex-kernel regression and application to precision SEA robots
- Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance
- Fault detection and isolation for a class of uncertain nonlinear systems: a dual-monitoring model-based approach
- Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation
- Comparative Study on State Estimation in Elastic Joints
- Modelling and adaptive tracking control for flexible joint robots with random noises
- scientific article; zbMATH DE number 4018892 (Why is no real title available?)
- Nonlinear dynamics and control of INSAT-II: application of a general formulation
- Observers for Lipschitz non-linear systems
- Reduced order observers for the sliding mode control of mechanical systems with elastic joints
- Stability and oscillations in a slow-fast flexible joint system with transformation delay
- Position control of robot manipulators with elastic joints using force feedback
- scientific article; zbMATH DE number 3891202 (Why is no real title available?)
- Unknown input nonlinear observer design for continuous and discrete time systems with input recovery scheme
- Observer design for one-sided Lipschitz discrete-time systems
- Robust input-output linearisation using uncertainty and disturbance estimation
- Nonlinear dynamics of drives with elasticities and friction
- Modal Control of Fast Large-Scale Robot Motions
- On the force control problem for flexible joint manipulators
- scientific article; zbMATH DE number 4101057 (Why is no real title available?)
- A simple and efficient computational approach for the forward dynamics of elastic robots
- A feedforward decoupling concept for the control of elastic robots
- Discrete-time adaptive control for mechanical manipulators having a joint compliance
- Adaptive control of flexible joint robots using position and velocity feedback
- Stability and control aspects of flexible link robot manipulators during constrained motion tasks
- On the robust control aspect of a class of systems involving interconnected rigid and flexible appendages: case study
- Decoupling and feedback linearization of robots with mixed rigid/elastic joints
- Design of global tracking controllers for flexible‐joint robots
- Observer design for a class of nonlinear systems
- Modelling and control of a deformable-link flexible-joint robot
- A new approach to robust position/force control of flexible-joint robot manipulators
- Robust control of flexible-joint robots using voltage control strategy
- Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities
- Nonlinear control of electrical flexible-joint robots
- To the theory of a single link manipulator with joint elasticity
- On stability and regulation performance for flexible-joint robots with input/output communication delays
- Models, feedback control, and open problems of 3D bipedal robotic walking
- \(\mathcal H_{\infty}\) observer design for a class of nonlinear discrete systems
- Contril of rigid‐link, flexible‐joint robots:a survey of backstepping approaches
- Observer design for discrete nonlinear descriptor systems
- Control of mechanical systems with flexibility via a multi-input VS/backstepping design
- Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity
- scientific article; zbMATH DE number 2097482 (Why is no real title available?)
- Inverse Force and Motion Control of Constrained Elastic Robots
- Feedback linearization of robot manipulators and riemannian curvature
- A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach
- Tracking control of flexible joint manipulators using only position measurements
- End-effector regulation of robots with elastic elements by an iterative scheme
- Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
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