Global regulation of elastic joint robots based on energy shaping

IEEE Transactions on Automatic Control

Volumn 43, Issue 10, 1998, Pages 1451-1456

  Kelly, Rafael ^a   Santibáñez, Víctor ^b  

^a CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

^b INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

Author keywords

Flexible structure; Regulator; Robots; Stability

Indexed keywords

DAMPING; MOBILE ROBOTS; POSITION CONTROL; ROTORS; VELOCITY MEASUREMENT;

ELASTIC JOINT ROBOTS; ENERGY SHAPING METHODOLOGY; RIGID ROBOT MANIPULATORS;

MANIPULATORS;

EID: 0032187805     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.720506     Document Type: Article

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