An inverse kinematics algorithm for interaction control of aflexible arm with a compliant surface

Control Engineering Practice

Volumn 9, Issue 2, 2001, Pages 191-198

  Siciliano, Bruno ^a   Villani, Luigi ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

Flexible arms; Force control; Inverse kinematics; Position control

Indexed keywords

ALGORITHMS; COMPUTATIONAL METHODS; COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; INTERFACES (MATERIALS); INVERSE KINEMATICS; MANIPULATORS; MATRIX ALGEBRA; POSITION CONTROL; STIFFNESS;

INVERSE KINEMATICS ALGORITHMS; JACOBIAN MATRIX;

CLOSED LOOP CONTROL SYSTEMS;

KINEMATICS;

EID: 0035067829     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(00)00097-6     Document Type: Article

References (13)

1. Controlled motion in an elastic world
2. End-effector regulation of robots with elastic elements by an iterative scheme
3. Closed-form dynamic model of planar multilink lightweight robots
4. Regulation of flexible arms under gravity
5. Inversion-based nonlinear control of robot arms with flexible links
6. Nonlinear control with end-point acceleration feedback for a two-link flexible manipulator: Experimental results
7. A closed-loop inverse kinematic scheme for on-line joint based robot control
8. An inverse kinematics scheme for flexible manipulators
9. An inverse kinematics scheme for a flexible arm in contact with a compliant surface
10. Closed-loop inverse kinematics algorithm for constrained flexible manipulators under gravity
11. A singular perturbation approach to control of lightweight flexible manipulators
12. Flexible-link robot arm control by a feedback linearization/singular perturbation approach