Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

DOI10.1002/ROB.10113MaRDI QIDQ3044578zbMATH OpenOpenAlexFDO

Authors Benedito C. O. MacIel, Marco H. Terra, Marcel Bergerman

Publication date 6 August 2004

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10113

zbMATH Keywords

coupling indexpost-failure control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

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Cites work

• Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy - a survey and some new results
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Motion and force control of multiple robotic manipulators

Cited in

(15)

• Torque optimizing control with singularity-robustness for kinematically redundant robots
• An adaptive variable structure control scheme for underactuated mechanical manipulators
• Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections
• Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network
• From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators
• Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy
• Optimal control of manipulators with any number of passive joints
• A Novel Robust Constraint Force Servo Control for Under‐actuated Manipulator Systems: Fuzzy and Optimal
• Simulation-based actuator selection for redundantly actuated robot mechanisms
• Comprehensive Unified Control Strategy and Global Stability Analysis for Underactuated Two-link Manipulators
• A methodology for actuator failure recovery in parallel manipulators
• Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
• Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios
• Motion tracking of a rigid-flexible link manipulator in a controller failure condition
• Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators

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