Adaptive Computed Reference Computed Torque Control of Flexible Robots

DOI10.1115/1.2798520MaRDI QIDQ4847455zbMATH OpenOpenAlexFDO

Authors I. M. M. Lammerts, F. E. Veldpaus, M. J. G. van de Molengraft, J. J. Kok

Publication date 28 November 1995

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://research.tue.nl/nl/publications/adaptive-computed-reference-computed-torque-control-of-flexible-robots(ef5fbb66-eb43-40e7-a12b-310dd23339ed).html

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Cited in

(4)

• Computed torque control of fully-actuated nondeterministic multibody systems
• Robust trajectory control in the workspace of a class of flexible robots
• Lead with closed-loop system compensation of a radically rotating elastic rod attached to a rigid body. I: A unified approach to the design of linear control system
• Computed torque control of an under-actuated service robot platform modeled by natural coordinates

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