Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots
Author:
Affiliation:
1. Institute of Robotics and Mechatronics, German Aerospace Center, Weßling, Germany
Funder
European Research Council (ERC) through the European Union’s Horizon 2020 Research and Innovation Programme
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Control and Optimization,Control and Systems Engineering
Link
http://xplorestaging.ieee.org/ielx7/7782633/9828546/09810336.pdf?arnumber=9810336
Reference21 articles.
1. An exponentially stable adaptive control for force and position tracking of robot manipulators
2. Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots
3. From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots
4. Modeling and Control of Elastic Joint Robots
5. Singular systems of differential equations as dynamic models for constrained robot systems
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