Two-time scale force and position control of flexible manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2729-2734

  Siciliano, B ^a   Villani, L ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

RIGID MOTION DYNAMICS;

COMPUTER SIMULATION; FORCE CONTROL; MATHEMATICAL MODELS; PERTURBATION TECHNIQUES; POSITION CONTROL;

FLEXIBLE MANIPULATORS;

EID: 0034860799     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933035     Document Type: Conference Paper

References (13)

1. Dynamic stability analysis of a two-link force-controlled flexible manipulator
2. Dynamic hybrid position/force control of a two degree-of-freedom flexible manipulator
3. Adaptive hybrid position/force control for robot manipulators with compliant links
4. A singular perturbation approach to control of lightweight flexible manipulators
5. Flexible-link robot arm control by a feedback linearization/singular perturbation approach
6. An integral manifold approach for tip-position tracking of flexible multi-link manipulators
7. Modelling for two-time scale force/position control of flexible robots
8. The parallel approach to force/position control of robotic manipulators
9. Force/position regulation of compliant robot manipulators
10. Closed-form dynamic model of planar multilink lightweight robots
11. Closed-loop inverse kinematics algorithms for constrained flexible manipulators under gravity