Hybrid force and motion control of robots with flexible links

DOI10.1016/J.MECHMACHTHEORY.2009.08.004MaRDI QIDQ1046629zbMATH OpenOpenAlexFDO

Authors Sinan Kilicaslan, S. Kemal Ider, M. Kemal Ozgoren

Publication date 22 December 2009

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2009.08.004

zbMATH Keywords

flexible manipulatorsflexible robotsconstrained motion controlforce and motion controlmodeling discrepancypseudostatic equilibrium

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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Cites work

• A Lyapunov function for some naturally-occurring linear homogeneous time-dependent equations
• Compliant control of a two-link flexible manipulator featuring piezoelectric actuators
• Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach
• Dynamic hybrid position/force control of a two degree‐of‐freedom flexible manipulator
• Dynamic modelling of a rigid-flexible manipulator for constrained motion task control
• Force and Motion Control of a Constrained Flexible Robot Arm
• Inverse Force and Motion Control of Constrained Elastic Robots
• Linear Quadratic Frequency-Shaped Implicit Force Control of Flexible Link Manipulators
• Unconstrained and constrained motion control of a planar two‐link structurally flexible robotic manipulator

Cited in

(6)

• Impedance control of a flexible link robot for constrained and unconstrained maneuvers using sliding mode control (SMC) method
• Interaction Control Experiments for a Robot with one Flexible Link
• Unconstrained and constrained motion control of a planar two‐link structurally flexible robotic manipulator
• Feedforward dynamics for the control of articulated multi-limb robots
• Flexible-link robots with combined trajectory tracking and vibration control
• Active force-torque robot control without using wrist force-torque sensors

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