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A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators

โœ Scribed by Gueaieb, W.; Karray, F.; Al-Sharhan, S.


Book ID
117924141
Publisher
IEEE
Year
2007
Tongue
English
Weight
795 KB
Volume
12
Category
Article
ISSN
1083-4435

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119 Robust hybrid position/force control
๐Ÿ“‚ Article ๐Ÿ“… 1994 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 131 KB

A general dynamic model of a redundant rigid/flexible-joint manipulator is introduced. Using this model and the pseudoinverse approach, a Cartesian space control scheme for rigid/flexible-joint redundant manipulators is developed, where redundancy is resolved to compensate for the effect of joint fl