Stability of robotic manipulators during transition to and from compliant motion

DOI10.1016/0005-1098(90)90003-ZzbMATH Open0712.70007OpenAlexW2031076787MaRDI QIDQ749245FDOQ749245

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

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zbMATH Keywords

Local stabilityglobal asymptotic connective stability of systemsmanipulator motion

Mathematics Subject Classification ID

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

Cites Work

• Title not available (Why is that?)
• Title not available (Why is that?)
• Modeling and Control of Elastic Joint Robots
• Title not available (Why is that?)
• Feedback stabilization and tracking of constrained robots
• The control of robot manipulators with bounded input
• Global connective stability of a class of robotic manipulators
• Dynamics of manipulation robots. Theory and application
• Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty
• Practical stabilization of robotic systems by decentralized control

Cited In (11)

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

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