Adaptive control of flexible manipulators carrying large uncertain payloads

DOI10.1002/(SICI)1097-4563(199604)13:4%3C219::AID-ROB3%3E3.0.CO;2-UMaRDI QIDQ4348596zbMATH OpenOpenAlexFDO

Authors Christopher Damaren

Publication date 18 August 1997

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199604)13:4%3C219::aid-rob3%3E3.0.co;2-u

zbMATH Keywords

revolute jointsCartesian end-effector coordinatesfiltered errorglobally stable trackingsix DOF manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Control, switches and devices (``smart materials) in solid mechanics (74M05)

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Cites work

• Adaptive control of flexible joint manipulators
• Adaptive control of robot manipulators with flexible joints
• Adaptive motion control design of robot manipulators: an input-output approach
• Adaptive motion control of rigid robots: A tutorial
• Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
• Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto
• Direct adaptive control of a one‐link flexible arm with tracking
• Dynamics of an elastic multibody chain: Part B—Global dynamics
• Dynamics of an elastic multibody chain: part a—body motion equations
• Inversion techniques for trajectory control of flexible robot arms
• Inversion-based nonlinear control of robot arms with flexible links
• Passivity analysis for flexible multilink space manipulators
• Simulation of Flexible-Link Manipulators With Inertial and Geometric Nonlinearities

Cited in

(6)

• scientific article; zbMATH DE number 4114516 (Why is no real title available?)
• Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition
• The control of flexible-link robots manipulating large payloads: Theory and experiments
• Towards nonadaptive and adaptive control of manipulation robots
• An Adaptive Controller for Two Cooperating Flexible Manipulators
• Adaptive active disturbance rejection control of flexible manipulators with uncertain payload

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