Feed-forward torques and reference trajectory for an arm with flexible joints

zbMATH Open1151.93390MaRDI QIDQ5502901FDOQ5502901

Authors: Yannick Aoustin, A. M. Formal'skij 

Publication date: 12 January 2009

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zbMATH Keywords

flexible jointcontrol torquereference trajectoryfeed-forward and feedback controlone-two-link armtorque bound

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Cited In (7)

• Design of trajectories with physical constraints for very lightweight single link flexible arms
• Virtual passive control of flexible arms with collocated and noncollocated feedback.
• Composite jerk feedforward and disturbance observer for robust tracking of flexible systems
• The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
• Flexible torque feed-forward control of robots in the flexible dynamics model
• Repetitive Control for Multi-Joint Arm Movements Based on Virtual Trajectories
• Inversion techniques for trajectory control of flexible robot arms

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