PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments

Author:

De Luca Alessandro,Siciliano Bruno,Zollo Loredana

Publisher

Elsevier BV

Subject

Electrical and Electronic Engineering,Control and Systems Engineering

Reference15 articles.

1. Semiglobal stability of saturated linear PID control for robot manipulators;Alvarez-Ramirez;Automatica,2003

2. Stability and robustness of PID feedback control for robot manipulators of sensory capability;Arimoto,1984

3. A general algorithm for dynamic feedback linearization of robots with elastic joints;De Luca,1998

4. Elastic joints;De Luca,1996

5. Adaptive neural network control of tendon-driven mechanisms with elastic tendons;Kobayashi;Automatica,2003

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