Hamiltonian description and dynamic control of flexible robots

DOI10.1002/rob.4620060404zbMath0673.70025OpenAlexW2111665825MaRDI QIDQ3827575

Salvatore Nicosia, Patrizio Tomei, Antonio Tornambe

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.4620060404

zbMATH Keywords

Hamiltonian approachnonlinear control lawcontrol of flexible robotsapproximate finite dimensional modelpseudo-linearization methodsingle-link robot arm

Mathematics Subject Classification ID

Application models in control theory (93C95) Hamilton's equations (70H05) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Differential geometric aspects in kinematics (53A17)

Related Items (3)

Lyapunov analysis of the approximate motion equations of flexible structures ⋮ Hamiltonian description and dynamic control of flexible robots ⋮ High-gain observers in the state and parameter estimation of robots having elastic joints

Cites Work

• Unnamed Item
• Nonlinear control systems: An introduction
• An approximate observer for a class of nonlinear systems
• Dynamics of nonrigid articulated robot linkages
• A new method for linearizing non-linear systems : the pseudolinearization†
• Tracking control of a flexible robot link
• Hamiltonian description and dynamic control of flexible robots

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