R. Ortega, R. Kelly, & A. Loria, A class of output feedback globally stabilizing controllers for flexible joints robots, IEEE Trans Robotics Automation, 11(5), 1995, 766#770. Home/Search Document Details and Download
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Stability of Hybrid Position/force Control Applied to .. - Goldsmith, Francis.. (1999) (Correct)
....is essential and must be designed to ensure stability. Much of the research on the e#ect of position feedback on the stability of flexible joint robots focuses on unconstrained manipulators. An extensive survey may be found in [14] while more recent work in this area may be found in [15] and [16]. The stability of a constrained flexible joint robot was investigated in [17] for a control in which the desired configuration is specified in link angles. Hybrid controls for constrained flexible joint robots have been developed using a variety of approaches. Integral manifold control [18] and ....
R. Ortega, R. Kelly, & A. Loria, A class of output feedback globally stabilizing controllers for flexible joints robots, IEEE Trans Robotics Automation, 11(5), 1995, 766#770.
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