Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

DOI10.1007/978-1-4020-9438-5_11zbMath1190.93041OpenAlexW31542047MaRDI QIDQ3565532

Naoyuki Hara, Yoshikazu Kanamiya, Daisuke Sato, Yusuke Fukazu

Publication date: 4 June 2010

Published in: Motion and Vibration Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-1-4020-9438-5_11

zbMATH Keywords

vibration suppressionpath tracking controlkinematically redundant manipulator

Mathematics Subject Classification ID

Robust stability (93D09) Control problems involving ordinary differential equations (34H05) Forced motions in linear vibration theory (70J35) Control/observation systems governed by ordinary differential equations (93C15)

This page was built for publication: Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator