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Passivity-Based Interaction Controller and Observer for Robot Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work presents the design of a passivity-based controller and observer for a robot manipulator interacting with a compliant environment. Regulation of the contact force along the constrained ...
Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and ...