Modified transpose Jacobian control of robotic systems

DOI10.1016/J.AUTOMATICA.2006.12.029MaRDI QIDQ2641792zbMATH OpenOpenAlexFDO

Authors S. A. A. Moosavian, Evangelos Papadopoulos

Publication date 23 August 2007

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2006.12.029

zbMATH Keywords

controlpath trackingroboticsstabilitytranspose Jacobian algorithm

Mathematics Subject Classification ID

Numerical methods for trigonometric approximation and interpolation (65T40) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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Cites work

• A Time Delay Controller for Systems With Unknown Dynamics
• scientific article; zbMATH DE number 440619 (Why is no real title available?)
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems
• Manipulator motion control in operational space using joint velocity inner loops
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

Cited in

(8)

• Modal decoupled dynamics feed-forward active force control of spatial multi-DOF parallel robotic manipulator
• Prioritized multi-task compliance control of redundant manipulators
• Finite-time trajectory tracking control in a task space of robotic manipulators
• Constraint finite-time control of redundant manipulators
• Compensation of Robot joint variables using special Jacobian matrices
• A Class of Transpose Jacobian-based NPID Regulators for Robot Manipulators with an Uncertain Kinematics
• Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances
• Optimal cascaded control of mobile manipulators

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