Fl. Hu et Ag. Ulsoy, FORCE AND MOTION CONTROL OF A CONSTRAINED FLEXIBLE ROBOT ARM, Journal of dynamic systems, measurement, and control, 116(3), 1994, pp. 336-343
The results of a study on the combined joint motion control, vibration
control, and force control of a constrained rigid-flexible robot am f
or both regulation and tracking are presented. A nonlinear modified Co
rless-Leitmann controller is proposed for control of the flexible moti
on using only joint actuators. Experimental studies, which demonstrate
the effectiveness of the proposed method, are described.