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

DOI10.1080/00207729608929317zbMATH Open0873.93066OpenAlexW2083947245MaRDI QIDQ3124698FDOQ3124698

Tetsuo Iwazumi, Yoshifumi Morita, Hiroyuki Ukai

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

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zbMATH Keywords

nonlinear feedback controllertrajectory controlrobust servo controllermulti-link elastic robot manipulators

Mathematics Subject Classification ID

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

Cites Work

• Title not available (Why is that?)
• Singular perturbations and order reduction in control theory - an overview
• 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
• Control of a Flexible Robot Arm: Experimental and Theoretical Results
• Design of servo systems for distributed parameter systems by finite dimensional dynamic compensator
• Output Feedback Two-Time Scale Control of Multilink Flexible Arms

Cited In (4)

• Trajectory and Force Control of a Manipulator with Elastic Links
• Robust control of multilink 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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