Compliant control of a two-link flexible manipulator by constraint Hamiltonian system

DOI10.1016/S0094-114X(97)00041-4zbMATH Open0980.93054OpenAlexW1972607966MaRDI QIDQ1301079FDOQ1301079

Authors: Seung-Bok Choi, Hyuc-Bum Lee, Brian S. Thompson 

Publication date: 6 September 1999

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

Full work available at URL: https://doi.org/10.1016/s0094-114x(97)00041-4

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zbMATH Keywords

stabilityconstraintsHamiltonian systemrobotic manipulatorflexibilitydeformable bodiesholonomic systemsend-effectortwo-link flexible manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Cited In (1)

• Trajectory and Force Control of a Manipulator with Elastic Links

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