Recursive methods in control of flexible joint manipulators

DOI10.1007/s11044-013-9391-6zbMath1351.70006OpenAlexW2010685722MaRDI QIDQ487554

Hubert Gattringer, Bernhard Oberhuber, Hartmut Bremer, Johannes Mayr

Publication date: 22 January 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-013-9391-6

zbMATH Keywords

elastic multibody systemsflat parameterizationmodular robotsrecursive solving methodsrobot end-point accuracy

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

Related Items (3)

Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties ⋮ Adaptive sliding mode control of \(n\) flexible-joint robot manipulators in the presence of structured and unstructured uncertainties ⋮ Closed-form time derivatives of the equations of motion of rigid body systems

Cites Work

• Efficient dynamic modeling for rigid multi-body systems with contact and impact. An \(\mathrm{O}(n)\) formulation
• Elastic multibody dynamics. A direct Ritz approach
• Decoupling and feedback linearization of robots with mixed rigid/elastic joints
• Flatness and defect of non-linear systems: introductory theory and examples
• Robot Dynamics Algorithms
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