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 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...
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...