Recursive methods in control of flexible joint manipulators

DOI10.1007/S11044-013-9391-6MaRDI QIDQ487554zbMATH OpenOpenAlexFDO

Authors Hubert Gattringer, Bernhard Oberhuber, Johannes Mayr, Hartmut Bremer

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

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

Recommendations

• Recursive control of robotic motion
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Cites work

• Decoupling and feedback linearization of robots with mixed rigid/elastic joints
• Efficient dynamic modeling for rigid multi-body systems with contact and impact. An \(\mathrm{O}(n)\) formulation
• Elastic multibody dynamics. A direct Ritz approach
• Flatness and defect of non-linear systems: introductory theory and examples
• scientific article; zbMATH DE number 107917 (Why is no real title available?)
• scientific article; zbMATH DE number 2158929 (Why is no real title available?)
• Robot Dynamics Algorithms

Cited in

(4)

• Closed-form time derivatives of the equations of motion of rigid body systems
• 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
• The implicit inversion method for calculating the forward dynamics input Jacobian

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