Trajectory control of multi-link elastic robot manipulators via a nonlinear feedback controller and a robust servo controller

DOI10.1080/00207729608929317MaRDI QIDQ3124698zbMATH OpenOpenAlexFDO

Authors Yoshifumi Morita, Hiroyuki Ukai, Tetsuo Iwazumi

Publication date 8 October 1997

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207729608929317

zbMATH Keywords

nonlinear feedback controllertrajectory controlrobust servo controllermulti-link elastic robot manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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• Nonlinear robust and optimal control of robot manipulators

Cites work

• scientific article; zbMATH DE number 3267206 (Why is no real title available?)
• Control of a Flexible Robot Arm: Experimental and Theoretical Results
• Design of servo systems for distributed parameter systems by finite dimensional dynamic compensator
• Feedback control of flexible systems
• Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control
• Modeling and control of coupled bending and torsional vibrations of flexible beams
• Output Feedback Two-Time Scale Control of Multilink Flexible Arms
• Singular perturbations and order reduction in control theory - an overview

Cited in

(5)

• Trajectory and Force Control of a Manipulator with Elastic Links
• Robust control of multilink flexible manipulators.
• Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators
• Dual mode control of an elastic robotic arm: non-linear inversion and stabilization by pole assignment
• Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping

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