An observer-based set-point controller for robot manipulators with flexible joints
From MaRDI portal
Publication:1315966
DOI10.1016/0167-6911(93)90076-IzbMath0793.93088MaRDI QIDQ1315966
Publication date: 24 March 1994
Published in: Systems \& Control Letters (Search for Journal in Brave)
Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)
Related Items (29)
Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control. ⋮ A hybrid scheme for reducing peaking in high-gain observers for a class of nonlinear systems ⋮ Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces ⋮ On output feedback stabilization of Euler-Lagrange systems with nondissipative forces ⋮ Unnamed Item ⋮ Global tracking controllers for flexible-joint manipulators: A comparative study ⋮ A global output feedback controller for flexible joint robots ⋮ Stable observer-based trajectory controller for asymptotic model matching of a rigid robot ⋮ On the role of passivity and output injection in the output feedback stabilisation problem: Application to robot control ⋮ On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback ⋮ Comparative Study on State Estimation in Elastic Joints ⋮ A note on bounded-input feedback global stabilization of robot manipulators ⋮ Energy regulation of torque-driven robot manipulators in joint space ⋮ Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements ⋮ Stability of nonlinear teleoperators using PD controllers without velocity measurements ⋮ Tracking control of flexible joint manipulators using only position measurements ⋮ Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity ⋮ Global set point control via link position measurement for flexible joint robots ⋮ Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models ⋮ Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities ⋮ Leader-follower and leaderless consensus in networks of flexible-joint manipulators ⋮ Global output feedback tracking control for a class of Lagrangian systems ⋮ A unifying point of view on output feedback designs for global asymptotic stabilization ⋮ Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes ⋮ On the matching equations of energy shaping controllers for mechanical systems ⋮ Semiglobal stability of saturated linear PID control for robot manipulators ⋮ Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics ⋮ Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters ⋮ Stabilization of nonlinear dynamic systems using the system state estimates made by the asymptotic observer
Cites Work
- Unnamed Item
- Adaptive motion control of rigid robots: A tutorial
- Adaptive nonlinear control without overparametrization
- Global regulation of robots using only position measurements
- An iterative scheme for learning gravity compensation in flexible robot arms
- A New Feedback Method for Dynamic Control of Manipulators
- Computed torque control via a non‐linear observer
- Adaptive control of robot manipulators with flexible joints
- Passive adaptive control of non‐linear systems
- Robot control by using only joint position measurements
This page was built for publication: An observer-based set-point controller for robot manipulators with flexible joints
