scientific article; zbMATH DE number 1319737

DOI10.1002/(SICI)1097-4563(199902)16:2%3C119::AID-ROB5%3E3.0.CO;2-JMaRDI QIDQ4256779zbMATH OpenFDO

Authors C. C. Cheah, Sadao Kawamura, Suguru Arimoto

Publication date 29 November 1999

Full work available at URL https://doi.org/10.1002/(SICI)1097-4563(199902)16:2%3C119::AID-ROB5%3E3.0.CO;2-J

zbMATH Keywords

feedback control lawgravitational force compensationgravity regressorstability conditionsuncertain Jacobian matrix

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Feedback control (93B52)

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Cites work

• A New Feedback Method for Dynamic Control of Manipulators
• Impedance Control: An Approach to Manipulation: Part I—Theory

Cited in

(19)

• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
• Semiglobal stability of saturated linear PID control for robot manipulators
• Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition
• Impedance adaptive controller for a prototype of a whiplash syndrome rehabilitation device
• Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information
• Modified transpose Jacobian control of robotic systems
• Special Issue on “Vision-Based Control Systems”
• Approximate Jacobian control for robot manipulators
• A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators
• H/sub ∞/ tuning for task-space feedback control of robot with uncertain Jacobian matrix
• A position/force control for a robot finger with soft tip and uncertain kinematics
• Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix
• Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix
• Finite-time control in the operational space of robot manipulators
• A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration
• Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration
• Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
• Adaptive Jacobian vision based control for robots with uncertain depth information

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