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Keywords: flexible-joint robot
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Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2022, 144(8): 081004.
Paper No: DS-21-1130
Published Online: June 7, 2022
...Xin Cheng; Huashan Liu; Zhen Zeng; Wenke Lu This paper proposes a saturated output feedback controller for flexible-joint robot manipulators with joints of arbitrary flexibility. First, under the framework of singular perturbation theory, a saturated flexible compensator is introduced...
Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2009, 131(4): 041003.
Published Online: April 29, 2009
... a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause severe damage. However, control design for a flexible-joint robot manipulator is still an open problem. Besides being described by a complicated system model...