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

zbMATH Keywords

multibody systeminput-output feedback linearizationflexible robotsnonlinear decouplingLagrange's equations of second kindartificial configuration spaceelastic armlinear feedback loopsreal configuration spaceunbounded nonobservable coordinatesvirtual joints

Mathematics Subject Classification ID

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)

Related Items (3)

Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm ⋮ Robust trajectory control in the workspace of a class of flexible robots ⋮ Trajectory Tracking for the End-effector of a Class of Flexible Link Manipulators

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