scientific article; zbMATH DE number 1437291

DOI10.1002/(SICI)1097-4563(199911)16:11%3C613::AID-ROB2%3E3.0.CO;2-RMaRDI QIDQ4950839zbMATH OpenFDO

Authors Ruvinda Gunawardana, Fathi Ghorbel

Publication date 31 January 2002

Full work available at URL https://doi.org/10.1002/(SICI)1097-4563(199911)16:11%3C613::AID-ROB2%3E3.0.CO;2-R

zbMATH Keywords

control lawsexplicit boundsrobot manipulatorsuniformly bounded Hessian of potential energy

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

Recommendations

• On the uniform boundedness of the inertia matrix of serial robot manipulators
• A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators
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• A unified perspective on robot control: The energy lyapunov function approach

Cites work

• A New Feedback Method for Dynamic Control of Manipulators
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• A unified perspective on robot control: The energy lyapunov function approach
• A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators
• An observer-based set-point controller for robot manipulators with flexible joints
• Global regulation of flexible joint robots using approximate differentiation
• Learning gravity compensation in robots: Rigid arms, elastic joints, flexible links
• On the uniform boundedness of the inertia matrix of serial robot manipulators

Cited in

(4)

• PID control for global finite-time regulation of robotic manipulators
• A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators
• On the uniform boundedness of the inertia matrix of serial robot manipulators
• Energy distribution index for robot manipulators and its application to buffering capability evaluation

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