Position control of robot manipulators with elastic joints using force feedback
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Publication:3197423
DOI10.1002/rob.4620070403zbMath0712.70059MaRDI QIDQ3197423
Miomir Vukobratović, N. Kirćanski, Aleksandar Timcenko
Publication date: 1990
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rob.4620070403
control scheme; mechanical resonance; prescribed robot trajectories; six-degree-of-freedom robot; Transmission flexibility
93B52: Feedback control
70Q05: Control of mechanical systems
70B15: Kinematics of mechanisms and robots
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