Position control of robot manipulators with elastic joints using force feedback

DOI10.1002/ROB.4620070403MaRDI QIDQ3197423zbMATH OpenOpenAlexFDO

Authors N. Kirćanski, Aleksandar Timcenko, Miomir Vukobratović

Publication date 1990

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

Full work available at URL https://doi.org/10.1002/rob.4620070403

zbMATH Keywords

control schememechanical resonanceprescribed robot trajectoriessix-degree-of-freedom robotTransmission flexibility

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Feedback control (93B52)

Recommendations

• On the force control problem for flexible joint manipulators
• Modeling and Control of Elastic Joint Robots
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• scientific article; zbMATH DE number 4101057
• Control of flexible joint robot manipulators by compensating flexibility

Cites work

• Modeling and Control of Elastic Joint Robots
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†

Cited in

(6)

• Dynamic compensability and compensability measure for robot systems with structural flexibility
• Real-time computational aspects of multiple manipulator systems
• Controlling a manipulator with structural elasticity using a force/torque sensor
• PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
• Inverse Force and Motion Control of Constrained Elastic Robots
• Flexible torque feed-forward control of robots in the flexible dynamics model

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