• Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of Technology, 1986)
      The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ...
    • Modelling for two-time scale force position control of flexible robots 

      Rocco, Paolo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-06)
      Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...
    • Modelling for Two-Time Scale Force/Position Control of Flexible Robots 

      Rocco, Paolo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...