Inverse Force and Motion Control of Constrained Elastic Robots

DOI10.1115/1.2799128MaRDI QIDQ4859809zbMATHOpenAlexFDO

Authors Woosoon Yim, Sahjendra N. Singh

Publication date 18 July 1996

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

Full work available at URL https://doi.org/10.1115/1.2799128

zbMATH Keywords

unstable zero dynamicsnonlinear inversionconstraint surfacelinear feedback stabilizationdesignedelastic robotic system

Mathematics Subject Classification ID

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

Recommendations

• INVERSE DYNAMICS CONTROL OF CONSTRAINED ROBOTS IN THE PRESENCE OF JOINT FLEXIBILITY
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• Robust adaptive force/motion control of constrained robots
• Position control of robot manipulators with elastic joints using force feedback
• Inversion techniques for trajectory control of flexible robot arms
• Trajectory and Force Control of a Manipulator with Elastic Links
• Modeling and Control of Elastic Joint Robots

Cited in

(7)

• Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping
• Hybrid force and motion control of robots with flexible links
• Energy Based Limit Cycle Control of Elastically Actuated Robots
• INVERSE DYNAMICS CONTROL OF CONSTRAINED ROBOTS IN THE PRESENCE OF JOINT FLEXIBILITY
• Controlling a manipulator with structural elasticity using a force/torque sensor
• Robust Vibration/Force Control of a 2 D.O.F. Arm Having One Flexible Link with Artificial Pneumatic Actuators
• Dynamic modelling of a rigid-flexible manipulator for constrained motion task control

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