In this paper the control of exible joint manipulators is studied in detail. A composite control algorithm is proposed for the exible joint robots, which consists of two main part...
In this paper the control of exible joint manipulators is studied in detail. The model of N{axis exible joint manipulators are derived and reformulated in the form of singular per...
In this paper, we concern a swing-up control problem for an n-link revolute planar robot with any one of the joint being a passive joint. The goal of this study is to design and an...
As robots become more complex by incorporating dynamic stability or greater mechanical degrees of freedom, the difficulty of developing control algorithms directly on the robot in...
— In this paper, the concept of the ’robust arm configuration’ (RAC) is expanded using a mode shape compensator. This compensator improves the robustness of the arm configu...