Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition

IEEE Transactions on Automatic Control

Volumn 43, Issue 1, 1998, Pages 46-60

  Zhu, Wen Hong ^a,b   Bien, Zeungnam ^a,c   De Schutter, Joris ^a,b  

^a IEEE   (Belgium)

^b UNIVERSITY OF LEUVEN   (Belgium)

^c Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Adaptive control; Control of flexible joint robots; Control of mechanical systems; Control of multiple robots; Lyapunov stability; Robot control

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROL SYSTEM SYNTHESIS; FORCE CONTROL; LYAPUNOV METHODS; MANIPULATORS; MOTION CONTROL; ROBOTS; SYSTEM STABILITY; UNIVERSAL JOINTS;

DYNAMIC COUPLING; VIRTUAL DECOMPOSITION; VIRTUAL POWER FLOW;

ADAPTIVE CONTROL SYSTEMS;

EID: 0031701831     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.654886     Document Type: Article

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