Robust impedance control of a flexible structure mounted manipulator performing contact tasks

• المؤلفون الرئيسيون: Theeraphong Wongratanaphisan, Matthew O.T. Cole
• التنسيق: دورية
• منشور في: 2018
• الموضوعات: Computer Science; Engineering
• الوصول للمادة أونلاين: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=65149090415&origin=inward; http://cmuir.cmu.ac.th/jspui/handle/6653943832/59514

This paper presents a robustness analysis and design approach for impedance control of a flexible structure mounted manipulator (FSMM) performing contact tasks. In the analysis, the dynamics of the flexible structure are treated as uncertain. The environment is also treated as uncertain, but with fo...