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...
This work is focused on the analysis of manipulators with both joint and link flexibility. Due to the different order of joint and link stiffness, the full-order nonlinear system ...