On the Stability of Robot Compliant Motion Control: Theory and Experiments

DOI10.1115/1.2896159MaRDI QIDQ3197437zbMATH OpenOpenAlexFDO

Authors Hamid Tabaei Kazerooni, B. J. Waibel, S. Kim

Publication date 1990

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

Full work available at URL https://doi.org/10.1115/1.2896159

zbMATH Keywords

Lagrangian approachMinnesota direct drive robotrobot manipulatorsstability analysis

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited in

(3)

• Discussion on: ``Impact control of a single-link robot striking different environments: theoretical and experimental investigation
• Direct adaptive impedance control of robot manipulators
• Adaptive explicit force control of position-controlled manipulators

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