Motion/Force Control of Robotic ManipulatorsSource: Journal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 002::page 386Author:R. M. DeSantis
DOI: 10.1115/1.2802335Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A procedure for the design of a motion/force controller for a manipulator, the end-effector of which maintains a stiff contact with the environment, is presented. Based on the computed torque approach and on projections on the motion and force subspace, this procedure leads to decoupled controllers that are capable of ensuring a global stability and are applicable to stationary as well as to mobile contact surfaces.
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| contributor author | R. M. DeSantis | |
| date accessioned | 2017-05-08T23:49:43Z | |
| date available | 2017-05-08T23:49:43Z | |
| date copyright | June, 1996 | |
| date issued | 1996 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26224#386_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/116697 | |
| description abstract | A procedure for the design of a motion/force controller for a manipulator, the end-effector of which maintains a stiff contact with the environment, is presented. Based on the computed torque approach and on projections on the motion and force subspace, this procedure leads to decoupled controllers that are capable of ensuring a global stability and are applicable to stationary as well as to mobile contact surfaces. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Motion/Force Control of Robotic Manipulators | |
| type | Journal Paper | |
| journal volume | 118 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2802335 | |
| journal fristpage | 386 | |
| journal lastpage | 389 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 002 | |
| contenttype | Fulltext |