A uniform bound for the jacobian of the gravitational force vector for a class of robot manipulators

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 119, Issue 1, 1997, Pages 110-114

  Ghorbel, F ^a   Gunawardana, R ^a  

^a Rice University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0342367487     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801200     Document Type: Article

References (14)

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3. Ghorbel, F., Srinivasan, B., and Spong, M. W., 1993, “On the Positive Definiteness and Uniform Boundedness of the Inertia Matrix of Robot Manipulators,” Proc. Of the 32nd IEEE Conf. On Decision and Control, San Antonio, Texas, pp. 1103-1108.
4. Ghorbel, F., and Gunawardana, R., 1995, “On the Uniform Boundedness of the Derivative of the Gravitational Force of Serial Link Robot Manipulators,” Proc. Of the ASME International Mechanical Engineering Congress and Exposition (IMECE), San Francisco, CA, Nov. 12-17.
5. Kelly, R., Ortega, R., Ailon, A., and Loria, A., 1994, “Global Regulation of Flexible Joint Robots Using Approximate Differentiation,”IEEE Transaction on Automatic Control, Vol. 39, No. 6, pp. 1222-1224.
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7. Korrami, F., and Ozgliner, U., 1988, “Decentralized Control of Robot Manipulators via State and Proportional-Integral Feedback,”IEEE Conf on Robotics and Automation, pp. 1198-1203, Philadelphia.
8. Ortega, R., Loria, A., and Kelly, R., 1995, “A Semiglobally Stable Output Feedback PHD Regulator for Robot Manipulators,”IEEE Transactions on Automatic Control, Vol. 40, No. 8, pp. 1432-1436, Aug.
9. Sadegh, N., and Horowitz, R., 1990, “Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators,”The International Journal of Robotics Research, Vol. 9, No. 3, pp. 74-92.
10. Spong, M. W., and Vidyasagar, M., 1989, Robot Dynamics and Control, Wiley, New York, NY.
11. Takegaki, M., and Arimoto, S., 1981, “A New Feedback Method for Dynamic Control of Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 119-125.
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