scientific article; zbMATH DE number 1013390

MaRDI QIDQ4337792zbMATH OpenFDO

Authors Suguru Arimoto

Publication date 27 May 1997

zbMATH Keywords

current or voltage sourced'Alambert's principledisplacement capacitorfeedbackglobally asymptotic stabilitygravity capacitorkinetic inductorKirchhoff's current lawsresistorrobotic armsvirtual resistor

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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• Extension of impedance matching to nonlinear dynamics of robotic tasks
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