Position and force control of flexible joint robots during constrained motion tasks

DOI10.1016/S0094-114X(01)00021-0MaRDI QIDQ1604002zbMATH OpenFDO

Authors Yan-Ru Hu, George Vukovich

Publication date 2 July 2002

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

Full work available at URL https://doi.org/10.1016/S0094-114X(01)00021-0

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Control/observation systems involving computers (process control, etc.) (93C83)

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• Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy
• Control of robots with elastic joints interacting with dynamic environment
• Position and force control of two constrained robotic manipulators
• On the robust nonlinear motion position and force control of flexible joints robot manipulators
• Force and motion trajectory tracking control of flexible-joint robots
• Robust adaptive control for coordinated constrained multiple flexible joint manipulators with hysteresis loop
• Control of constrained manipulators with flexible joints
• Design and implementation of a robust switching control scheme for a class of constrained robot tasks
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• A new approach to robust position/force control of flexible-joint robot manipulators
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• INVERSE DYNAMICS CONTROL OF CONSTRAINED ROBOTS IN THE PRESENCE OF JOINT FLEXIBILITY
• Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment
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