Experimental parameter identification of flexible joint robot manipulators
Sign Up to like & getrecommendations! Published in 2017 at "Robotica"
DOI: 10.1017/s0263574717000224
Abstract: SUMMARY This paper contributes by presenting a parameter identification procedure for n-degrees-of-freedom flexible joint robot manipulators. An advantage of the given procedure is the obtaining of robot parameters in a single experiment. Guidelines are provided… read more here.
Keywords: parameter identification; flexible joint; joint robot; robot manipulators ... See more keywords
Improved-third-order-extended-state-observer-based sliding-mode control using singular perturbation theory for flexible-joint robot
Sign Up to like & getrecommendations! Published in 2025 at "International Journal of Control"
DOI: 10.1080/00207179.2025.2481602
Abstract: In order to cope with the changing industrial operation environment, based on the Flexible Joint Robot systems (FJR), this paper explores a control method of decoupling high-order systems by using singular perturbation theory (SPT). Considering… read more here.
Keywords: control; flexible joint; joint robot; singular perturbation ... See more keywords
Virtual decomposition controller for flexible-joint robot manipulators with non-full-state feedback
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417745676
Abstract: In this article, a tracking controller for flexible-joint robot manipulators with non-full-state feedback is investigated based on virtual decomposition control (VDC) theory. First, virtual decomposition principle is applied to decouple the entire system of flexible-joint… read more here.
Keywords: state; flexible joint; state feedback; joint robot ... See more keywords
A model-based velocity controller for chaotization of flexible joint robot manipulators
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881418802528
Abstract: This article presents a model-based velocity controller able to induce a chaotic motion on n-degrees of freedom flexible joint robot manipulators. The proposed controller allows the velocity link vector of a robot manipulator to track… read more here.
Keywords: model based; flexible joint; velocity; joint robot ... See more keywords
Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot
Sign Up to like & getrecommendations! Published in 2024 at "International Journal on Smart Sensing and Intelligent Systems"
DOI: 10.2478/ijssis-2024-0015
Abstract: Abstract This paper proposes and evaluates a novel control approach for trajectory tracking, stability enhancement, and vibration reduction of a flexible joint robot (FJR). The FJR is a 2-degree-of-freedom underactuated nonlinear system that is challenging… read more here.
Keywords: control; flexible joint; joint robot; sliding mode ... See more keywords