Infinite dimensional model of a double flexible-link manipulator: The Port-Hamiltonian approach

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Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems

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Engineering, Assignment Passivity-based Control, Mathematical Control Theory +5

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Pbc Theory, Engineering, Energy Revolution +17

Hamiltonian formulation of distributed-parameter systems with boundary energy flow

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Mathematical Programming, Numerical Analysis, Hamiltonian Theory +5

Closed-form dynamic model of planar multilink lightweight robots

Alessandro De Luca, Bruno Siciliano · IEEE Transactions on Systems Man and Cybernetics · 1991 · 379 citations

Robot Kinematics, Engineering, Structural Dynamics +18