Dynamic decoupling for hybrid control of rigid-/flexible-joint robots interacting with the environment
Authors:
- K.P. JankowskiKJK.P. Jankowski
- H.A. El MaraghyHMH.A. El Maraghy
- 1 January 1992
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 8 (5) , 519-534
Abstract
No abstract availableKeywords
This publication has 24 references indexed in Scilit:
- Stability analysis of position and force control problems for robot arms1990
- Dynamics of controlled mechanical systems with material and program constraints— I. TheoryMechanism and Machine Theory, 1989
- Nonlinear Robust Industrial Robot ControlJournal of Dynamic Systems, Measurement, and Control, 1989
- On the force control problem for flexible joint manipulatorsIEEE Transactions on Automatic Control, 1989
- Dynamic hybrid position/force control of robot manipulators-controller design and experimentIEEE Journal on Robotics and Automation, 1988
- Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition-deletion—I theoryMechanism and Machine Theory, 1986
- Synthesis of Control Systems for Manipulators Using Multivariable Robust Servomechanism TheoryThe International Journal of Robotics Research, 1985
- An approach to nonlinear feedback control with applications to roboticsIEEE Transactions on Systems, Man, and Cybernetics, 1984
- Compliance and Force Control for Computer Controlled ManipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1981
- The internal model principle of control theoryAutomatica, 1976