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A Stable Output Feedback Position Control With Integral Action For Robot Manipulators

✍ Scribed by Jose Alvarez-Ramirez; Rafael Kelly; Ilse Cervantes

Book ID
114944681
Publisher
John Wiley and Sons
Year
2008
Tongue
English
Weight
833 KB
Volume
5
Category
Article
ISSN
1561-8625

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πŸ“œ SIMILAR VOLUMES

An output feedback parallel force/positi
An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
✍ B. Siciliano; L. Villani πŸ“‚ Article πŸ“… 1997 πŸ› Elsevier Science 🌐 English βš– 393 KB

In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed