The control of robot manipulators with bounded input

DOI10.1109/TAC.1986.1104314MaRDI QIDQ3727813zbMATH OpenOpenAlexFDO

Authors J. S. Thorp, Jeffrey M. Kleinwaks, Mark W. Spong

Publication date 1986

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.1986.1104314

zbMATH Keywords

manipulation robotspointwise optimal control lawtrajectory tracking problem

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Quadratic programming (90C20) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)

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• A survey of efficient computational methods for manipulator inverse dynamics
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• Adaptive neural output feedback control for uncertain robot manipulators with input saturation
• Stable observer-based trajectory controller for asymptotic model matching of a rigid robot
• Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies
• Adaptive control for an uncertain robotic manipulator with input saturations
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• Optimal Control of an ISS-Based Robotic Manipulator with Path Constraints
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• Feedback control of robot Arm with discrete nonlinear model
• Robust Tracking Control for Robots With Bounded Input
• On the uniform boundedness of the inertia matrix of serial robot manipulators
• scientific article; zbMATH DE number 2003640 (Why is no real title available?)
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• A Numerical Approximation‐Based Controller for Mobile Robots with Velocity Limitation
• On the Optimization of Robotic Manipulator Trajectories With Bounded Joint Actuators or Joint Kinetic Loads Considered as Control Variables
• Control of a three-link manipulator with an inequality constraint on the velocity of its end-effector
• Bounded inputs total energy shaping for a class of underactuated mechanical systems
• Optimization driven robust control of mechanical systems with parametric uncertainties
• Estimates of flexible-joint robot model response times and some control applications
• Global joint position regulation of a class of torque-driven robot manipulators within actuators prescribed safe operating torque–speed area
• Stability of robotic manipulators during transition to and from compliant motion

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