Robust control of robots with variable joint stiffness

2009 International Conference on Advanced Robotics, ICAR 2009

Volumn , Issue , 2009, Pages

  Palli, G ^a   Melchiorri, C ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

Elastic joints; Nonlinear systems; Robotic manipulators; Robust control; Variable stiffness

Indexed keywords

COMPLIANT BEHAVIOR; COMPLIANT MANIPULATORS; CONTROL SCHEMES; ELASTIC JOINTS; GENERAL CLASS; HUMAN ROBOT INTERACTIONS; JOINT STIFFNESS; LINEAR CONTROLLERS; LYAPUNOV; MECHANICAL DESIGN; MULTI-DOF; ROBOT DYNAMICS; ROBOTIC MANIPULATORS; ROBOTS MANIPULATORS; SIMULATION ANALYSIS; SMOOTH SLIDING MODE CONTROL; VARIABLE STIFFNESS;

FLEXIBLE MANIPULATORS; HUMAN COMPUTER INTERACTION; LINEAR CONTROL SYSTEMS; MACHINE DESIGN; MATHEMATICAL MODELS; NONLINEAR SYSTEMS; POWER CONTROL; ROBOTICS; ROBOTS; ROBUST CONTROL; SIMULATORS; STIFFNESS; STRATEGIC PLANNING; VIBRATIONS (MECHANICAL);

CONTROL SYSTEM STABILITY;

EID: 70449365079     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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