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Blind force/position control on unknown planar surfaces

โœ Scribed by Karayiannidis, Y.; Doulgeri, Z.

Book ID
117811224
Publisher
The Institution of Engineering and Technology
Year
2009
Tongue
English
Weight
299 KB
Volume
3
Category
Article
ISSN
1751-8644

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On the invariance of the hybrid position
On the invariance of the hybrid position/force control
โœ A. Abbati-Marescotti; C. Bonivento; C. Melchiorri ๐Ÿ“‚ Article ๐Ÿ“… 1990 ๐Ÿ› Springer Netherlands ๐ŸŒ English โš– 740 KB

Recently, the noninvariance nature of the Raibert and Craig hybrid control scheme, based on the work of Mason and others, has been pointed out. In fact, on the basis of the screw theory, Lipkin and Duffy demonstrated that the selection of the position and force controlled degrees of freedom in the R