High-precision impedance control method for flexible base moving manipulators

Advanced Robotics

Volumn 23, Issue 1-2, 2009, Pages 65-87

  Salehi, M ^a   Vossoughi, G R ^a  

^a SHARIF UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

End effector; Flexible base mobile manipulator; Singular perturbation; Sliding mode impedance control

Indexed keywords

ASYMPTOTIC STABILITY; CONTROL SYSTEM ANALYSIS; CONTROL THEORY; DYNAMICS; FLEXIBLE MANIPULATORS; LAWS AND LEGISLATION; PERTURBATION TECHNIQUES; ROBOTICS; ROBUST CONTROL;

ACTIVE CONTROLS; COMBINED CONTROLS; CONTACT POINTS; CONTROL ELEMENTS; DAMPED VIBRATIONS; END-EFFECTOR; FAST DYNAMICS; FEEDBACK CONTROL LAWS; FLEXIBLE BASE MOBILE MANIPULATOR; HIGH PRECISION; IMPEDANCE CONTROL METHODS; IMPEDANCE CONTROLLERS; IN-BETWEEN; MOVING BASE; PLANAR MANIPULATORS; POSITION/FORCE CONTROLS; ROBOTIC MANIPULATORS; ROBUST IMPEDANCE CONTROLS; SINGULAR PERTURBATION; SINGULAR PERTURBATION METHODS; SLIDING MODE IMPEDANCE CONTROL; SLOW DYNAMICS;

MANIPULATORS;

EID: 60049092673     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855308X392681     Document Type: Article

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