𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Hybrid force and motion control of robots with flexible links

✍ Scribed by Sinan Kilicaslan; M. Kemal Özgören; S. Kemal Ider


Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
485 KB
Volume
45
Category
Article
ISSN
0094-114X

No coin nor oath required. For personal study only.


📜 SIMILAR VOLUMES


Comprehensive dynamic modeling and motio
✍ Yueh-Jaw Lin; Tian-Soon Lee 📂 Article 📅 1992 🏛 Elsevier Science 🌐 English ⚖ 872 KB

This paper presents a comprehensive dynamic modeling of a flexible link manipulator by using Hamilton's principle. The model is formulated by considering the flexible arm as a Timoshenko beam model. Hence, the shear, bending as well as rotational inertia effect of the manipulator are all taken into

Position and vibration control of a flex
✍ H.W. Park; H.S. Yang; Y.P. Park; S.H. Kim 📂 Article 📅 1999 🏛 Elsevier Science 🌐 English ⚖ 583 KB

In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H~ control scheme, in order to guarantee the controlled system robust against u

Variable structure adaptive motion and f
✍ Bin Yao; S.P. Chan; Danwei Wang 📂 Article 📅 1994 🏛 Elsevier Science 🌐 English ⚖ 436 KB

A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in parameters of robot dynamics, contact surface, and external disturbances. The method takes advantages of both variable structure control (VSC) and