Experimental control of a single-link flexible robot arm using energy shaping

DOI10.1080/00207720601014255MaRDI QIDQ3437478zbMATH OpenOpenAlexFDO

Authors

Publication date 9 May 2007

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/10.1080/00207720601014255

zbMATH Keywords

energy shapingflexible robotic armspassivity based controlunder-actuated systems

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Design techniques (robust design, computer-aided design, etc.) (93B51) Linear systems in control theory (93C05) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Recommendations

• Control and stabilization of a flexible robot arm
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Cites work

• COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES
• Experimental study for trajectory tracking of a two-link flexible manipulator
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Theory of robot control

Cited in

(12)

• Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators
• Energy regulation of torque-driven robot manipulators in joint space
• Design of trajectories with physical constraints for very lightweight single link flexible arms
• Variable stiffness control of a single-link flexible robotic arm
• Interaction Control Experiments for a Robot with one Flexible Link
• Closed loop control of a gravity-assisted underactuated snake robot with application to aircraft wing-box assembly
• Global regulation of elastic joint robots based on energy shaping
• End-effector trajectory tracking of a flexible link manipulator using integral manifold concept
• Flatness based GPI Control for Flexible Robots
• Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
• Minimum energy control of robot manipulators using a simple variable stiffness mechanism
• Model-based and model-free control of flexible-link robots: A comparison between representative methods

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