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A novel adaptive hybrid force-position control of a robotic manipulator

โœ Scribed by Kouya, Donatien Nganga; Saad, Maarouf; Okou, Francis A.


Book ID
126062408
Publisher
Inderscience Publishers
Year
2011
Tongue
English
Weight
301 KB
Volume
13
Category
Article
ISSN
1746-6172

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๐Ÿ“œ SIMILAR VOLUMES


A passivity-based adaptive sliding mode
โœ Vicente Parra-Vega; Suguru Arimoto ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 677 KB

Based on a novel orthogonalized sliding mode error co-ordinate system, a passivity-based adaptive sliding mode control that yields the global exponential convergence of position and force tracking errors is proposed. The holonomic constraint is efficiently manipulated to derive two orthogonal transf