On the Robot Compliant Motion Control

DOI10.1115/1.3153070MaRDI QIDQ3470352zbMATH OpenOpenAlexWikidataFDO

Authors Hamid Tabaei Kazerooni

Publication date 1989

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3153070

zbMATH Keywords

nonlinear approachlarge commercial robotsmanipulative systems

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Application models in control theory (93C95)

Recommendations

• Compliant motion control for robot manipulators
• Stability of robotic manipulators during transition to and from compliant motion
• Nonlinear feedback control of robot manipulator and compliant wrist
• Compliant motion control for non-redundant rigid robotic manipulators
• Adaptive compliant motion control of manipulators without velocity measurements

Cited in

(10)

• Compliant motion control for robot manipulators
• Adaptive explicit force control of position-controlled manipulators
• MACCEPA, a mechanically adjustable compliance and controllable equilibrium state actuator: a 3 DOF joint with two independent compliances
• scientific article; zbMATH DE number 5762696 (Why is no real title available?)
• Robust impedance control of robot manipulators using differential equations as universal approximator
• Virtual musculoskeletal control model with a spindle-like fuzzy algorithm for robotic compliance
• A dynamic-compensation approach to impedance control of robot manipulators
• Stability of robotic manipulators during transition to and from compliant motion
• Compliant motion control for non-redundant rigid robotic manipulators
• Nonlinear feedback control of robot manipulator and compliant wrist

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