Title :
On robustness of passivity of manipulators
Author :
Osuka, Koichi ; Matsuno, Fumitoshi
Author_Institution :
Kyoto Univ., Japan
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827801
