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    Passivity-Based Interaction Controller and Observer for Robot Manipulators

    Source: Journal of Dynamic Systems, Measurement, and Control:;1998:;volume( 120 ):;issue: 004::page 516
    Author:
    Bruno Siciliano
    ,
    Luigi Villani
    DOI: 10.1115/1.2801494
    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 direction and tracking of the end-effector position along the unconstrained directions is achieved; semiglobal exponential stability is proved. The control scheme is implemented in the joint space, and experimental results are illustrated for an open control architecture industrial robot which is endowed with joint position sensors and wrist force sensor, but no joint velocity sensors.
    keyword(s): Control equipment , Manipulators , Sensors , Force , Stability , Robots , Design , End effectors AND Force sensors ,
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      Passivity-Based Interaction Controller and Observer for Robot Manipulators

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    http://yetl.yabesh.ir/yetl1/handle/yetl/120132
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorBruno Siciliano
    contributor authorLuigi Villani
    date accessioned2017-05-08T23:56:04Z
    date available2017-05-08T23:56:04Z
    date copyrightDecember, 1998
    date issued1998
    identifier issn0022-0434
    identifier otherJDSMAA-26251#516_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/120132
    description abstractThis 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 direction and tracking of the end-effector position along the unconstrained directions is achieved; semiglobal exponential stability is proved. The control scheme is implemented in the joint space, and experimental results are illustrated for an open control architecture industrial robot which is endowed with joint position sensors and wrist force sensor, but no joint velocity sensors.
    publisherThe American Society of Mechanical Engineers (ASME)
    titlePassivity-Based Interaction Controller and Observer for Robot Manipulators
    typeJournal Paper
    journal volume120
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2801494
    journal fristpage516
    journal lastpage520
    identifier eissn1528-9028
    keywordsControl equipment
    keywordsManipulators
    keywordsSensors
    keywordsForce
    keywordsStability
    keywordsRobots
    keywordsDesign
    keywordsEnd effectors AND Force sensors
    treeJournal of Dynamic Systems, Measurement, and Control:;1998:;volume( 120 ):;issue: 004
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian