DocumentCode
3563621
Title
On robustness of passivity of manipulators
Author
Osuka, Koichi ; Matsuno, Fumitoshi
Author_Institution
Kyoto Univ., Japan
Volume
4
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
3406
Abstract
We show the property of passivity which can be find in manipulators is robust in some sense. That is, we show that not only rigid manipulators but also flexible manipulators have the property of passivity. This implies that the property of passivity is essential for manipulators
Keywords
control system synthesis; manipulator dynamics; robust control; flexible manipulators; passivity; rigid manipulators; robustness; Control systems; Control theory; Manipulator dynamics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Robust control; Robustness; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.827801
Filename
827801
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