Stability of robotic manipulators during transition to and from compliant motion

DOI10.1016/0005-1098(90)90003-ZMaRDI QIDQ749245zbMATH OpenOpenAlexFDO

Authors James K. Mills

Publication date 1990

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(90)90003-z

zbMATH Keywords

global asymptotic connective stability of systemsLocal stabilitymanipulator motion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Stability of control systems (93D99)

Recommendations

• On the Robot Compliant Motion Control
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Cites work

• Dynamics of manipulation robots. Theory and application
• Feedback stabilization and tracking of constrained robots
• Global connective stability of a class of robotic manipulators
• scientific article; zbMATH DE number 3670263 (Why is no real title available?)
• scientific article; zbMATH DE number 3566245 (Why is no real title available?)
• scientific article; zbMATH DE number 3598283 (Why is no real title available?)
• Modeling and Control of Elastic Joint Robots
• Practical stabilization of robotic systems by decentralized control
• Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty
• The control of robot manipulators with bounded input

Cited in

(11)

• Global connective stability of a class of robotic manipulators
• Stability of motions of the manipulator robot taking into account the weak dynamics of control system components
• Stability regions of periodic trajectories of the manipulator motion.
• Static stability of manipulator configuration: influence of the external loading
• Force measurement time-delays and contact instability phenomenon
• Motional stability of manipulator robots in a decomposition mode
• On the Robot Compliant Motion Control
• Compliant motion control for non-redundant rigid robotic manipulators
• Compliant motion control for robot manipulators
• Impact reduction for redundant manipulators using augmented impedance control
• Coordinate Transformations and Logical Operations for Minimizing Conservativeness in Coupled Stability Criteria

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