On the force control problem for flexible joint manipulators

DOI10.1109/9.8661MaRDI QIDQ3820496zbMATH OpenOpenAlexFDO

Authors Mark W. Spong

Publication date 1989

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.8661

zbMATH Keywords

elasticity at the jointsforce controlhybrid positionintegral manifoldJoint elasticityrobot controlsingularly perturbed systemstatic state-feedbacktwo-time scale composite control lawvibrations in industrial robot arms

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Application models in control theory (93C95) Stabilization of systems by feedback (93D15)

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(17)

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• Control of constrained manipulators with flexible joints
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• PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
• Modelling and control of a hydraulic actuated large scale manipulator
• Position control of robot manipulators with elastic joints using force feedback
• Issues in the dynamics and control of flexible robot manipulators
• A unified passivity based control framework for position, torque and impedance control of flexible joint robots
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• Modeling and Control of Elastic Joint Robots
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