The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.
No takes yet. Share an insight, caveat, or question.
Hu et al. (1994) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: