Exponential trajectory tracking control in the workspace of a class of flexible robots
DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199809)15:9<487::AID-ROB1>3.0.CO;2-G" /><487::AID-ROB1>3.0.CO;2-G 10.1002/(SICI)1097-4563(199809)15:9<487::AID-ROB1>3.0.CO;2-GzbMath0951.74037OpenAlexW2060716163MaRDI QIDQ4269723
Pascal Bigras, Jules O'Shea, Maarouf Saad
Publication date: 12 December 2000
Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199809)15:9<487::aid-rob1>3.0.co;2-g
multibody systeminput-output feedback linearizationflexible robotsnonlinear decouplingLagrange's equations of second kindartificial configuration spaceelastic armlinear feedback loopsreal configuration spaceunbounded nonobservable coordinatesvirtual joints
Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)
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