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RISErratum: “Discrete-Time Inverse Dynamics Control of Flexible Joint Robots” (Journal of Dynamic Systems, Measurement, and Control, 1992, 114, pp. 229–233)
Publisher: The American Society of Mechanical Engineers (ASME)
Discrete-Time Inverse Dynamics Control of Flexible Joint Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time ...
Constraint Formulation for Invariant Hybrid Position/Force Control of Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on the formulation of constraints for hybrid position/force control of robots. Since the noninvariant nature of the classical approach based on orthogonality of some subspaces ...