Inversion techniques for trajectory control of flexible robot arms

DOI10.1002/rob.4620060403zbMath0673.70024OpenAlexW2001490911WikidataQ56421936 ScholiaQ56421936MaRDI QIDQ3827574

Pasquale Lucibello, G. Ulivi, Alessandro De Luca

Publication date: 1989

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620060403

zbMATH Keywords

closed-loop stabilitytracking performanceinversion techniqueflexible armclosed-loop trajectory control of flexible robotsdynamic generator systemone-link flexible arm

Mathematics Subject Classification ID

Application models in control theory (93C95) Control of mechanical systems (70Q05) Pfaffian systems (58A17) Kinematics of mechanisms and robots (70B15)

Related Items (12)

Adaptive control of flexible manipulators carrying large uncertain payloads ⋮ Predictive end-point trajectory control of elastic manipulators ⋮ Nonlinear ultimate boundedness control and stabilization of a flexible robotic arm ⋮ Output zeroing with internal stability by learning ⋮ Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties ⋮ Inverse cartesian trajectory control and stabilization of a three‐axis flexible manipulator ⋮ Experiments on output tracking with internal stability by learning for a one-link flexible arm ⋮ Variable structure trajectory control of an elastic robotic arm ⋮ Design, dynamic modelling and experimental validation of a 2DOF flexible antenna sensor ⋮ An existence condition for the inverse dynamics solution of a slewing Euler-Bernoulli beam ⋮ Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments ⋮ Output regulation of a flexible spacecraft with exponentially stable/unstable internal dynamics

Cites Work

• Local stabilization of minimum-phase nonlinear systems
• Invertibility of multivariable nonlinear control systems
• Output tracking in multivariable nonlinear systems

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