The variable-inertia modified computed-torque control of robot manipulators

DOI10.1007/S11044-022-09862-9MaRDI QIDQ2686159zbMATH OpenOpenAlexFDO

Authors Jan Cvejn

Publication date 24 February 2023

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-022-09862-9

zbMATH Keywords

adaptive controlcomputed-torque controlinverse dynamicsmotion controlrobot control

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

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Cites work

• A New Lagrangian Formulation of Dynamics for Robot Manipulators
• Adaptive computed torque control for rigid link manipulations
• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• Adaptive motion control of rigid robots: A tutorial
• An efficient recursive approach for computer generation of manipulator dynamic model
• Computed torque control of fully-actuated nondeterministic multibody systems
• Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties
• Fractional-order passivity-based adaptive controller for a robot manipulator type scara
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• scientific article; zbMATH DE number 3863589 (Why is no real title available?)
• scientific article; zbMATH DE number 1907197 (Why is no real title available?)
• scientific article; zbMATH DE number 870560 (Why is no real title available?)
• Nonlinear systems.
• On adaptive inverse dynamics control of rigid robots
• On the PID tracking control of robot manipulators
• On the robust control of robot manipulators
• Trajectory tracking control based on non-singular fractional derivatives for the PUMA 560 robot arm

Cited in

(5)

• The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
• Computed torque control of redundant manipulators using general-purpose software in real-time
• Kinematics characteristics of unsprung mass in a double wishbone suspension based on velocity transformation
• Practical output regulation of robotic manipulators: a comparison study
• Computed torque control of an under-actuated service robot platform modeled by natural coordinates

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