Variable structure trajectory control of an elastic robotic arm

DOI10.1002/ROB.4620100103MaRDI QIDQ4037640zbMATH OpenOpenAlexFDO

Authors Sethu K. Madhavan, Sahjendra N. Singh

Publication date 16 May 1993

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

Full work available at URL https://doi.org/10.1002/rob.4620100103

zbMATH Keywords

digital simulationspole assignment technique

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12) Robust stability (93D09) Control, switches and devices (``smart materials) in solid mechanics (74M05)

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• scientific article; zbMATH DE number 52736
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• Variable structure control of a robotic arm in the presence of uncertainty
• Control and stabilization of a flexible robot arm
• Variable stiffness control of a single-link flexible robotic arm

Cites work

• scientific article; zbMATH DE number 3619700 (Why is no real title available?)
• Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping
• Control of a Flexible Robot Arm: Experimental and Theoretical Results
• Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Dual mode control of an elastic robotic arm: non-linear inversion and stabilization by pole assignment
• Inversion techniques for trajectory control of flexible robot arms
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Trajectory control of a non-linear one-link flexible arm

Cited in

(9)

• Controlled motion of an elastic manipulator
• Trajectory control of multi-link elastic robot manipulators via a nonlinear feedback controller and a robust servo controller
• Dual mode control of an elastic robotic arm: non-linear inversion and stabilization by pole assignment
• Predictive end-point trajectory control of elastic manipulators
• Simultaneous optimization of a two-link flexible robot arm
• scientific article; zbMATH DE number 52736 (Why is no real title available?)
• Variable structure control of a robotic arm in the presence of uncertainty
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties

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