Saturating stiffness control of robot manipulators with bounded inputs

DOI10.1515/AMCS-2017-0006MaRDI QIDQ2012138zbMATHOpenAlexFDO

Authors María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares

Publication date 28 July 2017

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1515/amcs-2017-0006

zbMATH Keywords

saturationrobot manipulatorbounded inputsstiffness control

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• scientific article; zbMATH DE number 6132695 (Why is no real title available?)
• scientific article; zbMATH DE number 1429394 (Why is no real title available?)
• A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators
• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
• A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
• Adaptive impedance control for upper-limb rehabilitation robot using evolutionary dynamic recurrent fuzzy neural network
• An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Modelling and control of an omnidirectional mobile manipulator
• Nonlinear systems.
• RGB-D terrain perception and dense mapping for legged robots
• Theory of robot control

Cited in

(10)

• A family of hyperbolic-type control schemes for robot manipulators
• Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
• Fixed-time bounded H infinity tracking control of a single-joint manipulator system with input saturation
• A new bounded kinematic controller for operational space motion of manipulators
• Stiffness control of robot manipulators in the operational space using fuzzy mapping of dynamic functions
• A force/position controller free of velocity measurement for robot manipulators with bounded torque input
• A generalized adaptive stiffness control scheme for robot manipulators with bounded inputs
• Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems
• Adaptive force control with active damping for robot manipulators with bounded inputs
• Robot impedance control and passivity analysis with inner torque and velocity feedback loops

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