A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots

Keyphrases

• Motion Tracking 100%
• Passivity-based Controller 100%
• Closed-loop Dynamics 100%
• Damping Assignment 100%
• Robotic System 50%
• Compliant Robot 50%
• Highly Nonlinear 50%
• Robot Arm 50%
• Control Approach 50%
• Desired Dynamics 50%
• Reference Trajectory 50%
• Minimal Change 50%
• Added Damping 50%
• Feedback Linearization 50%
• Vibration Suppression 50%
• Feedback Control Law 50%
• Uniformly Stable 50%
• Novel Control 50%

Engineering

• Closed Loop 100%
• Robot 100%
• Loop Dynamic 100%
• Robotic System 50%
• Control Law 50%
• Feedback Linearization 50%
• Reference Trajectory 50%
• Feedback Control 50%
• Robot Arm 50%