An approach to the dynamics and control of uncertain robot manipulators

DOI10.3390/a12030066zbMath1461.70013OpenAlexW2934347310WikidataQ128135646 ScholiaQ128135646MaRDI QIDQ2312434

Kun Zhu, Yihui Ding, Xiaolong Zhang, Shaoping Xu, Peter Xiaoping Liu, Xiao-Hui Yang

Publication date: 8 July 2019

Published in: Algorithms (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3390/a12030066

zbMATH Keywords

nonlinear systemsconstraintsrobot manipulatorsUdwadia-Kalaba equationuncertain system control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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Adaptive backstepping sliding mode control of trajectory tracking for robotic manipulators

Cites Work

• Dynamics and control of a multi-body planar pendulum
• On general nonlinear constrained mechanical systems
• Nonlinear control of electrical flexible-joint robots
• An application of the Udwadia-Kalaba dynamic formulation to flexible multibody systems
• Robotics, vision and control. Fundamental algorithms in MATLAB.
• The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach
• Automated fast symbolic modeling of robotic manipulators with compliant links
• Explicit Equations of Motion for Mechanical Systems With Nonideal Constraints
• Optimal tracking control of nonlinear dynamical systems
• Block-diagonal equations for multibody elastodynamics with geometric stiffness and constraints
• Order N Formulation for Flexible Multibody Systems in Tree Topology: Lagrangian Approach
• On constrained motion

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