✦ LIBER ✦

Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity

✍ Scribed by Antonio Loria; Romeo Ortega

Book ID: 107725055
Publisher: Elsevier Science
Year: 1996
Tongue: English
Weight: 510 KB
Volume: 32
Category: Article
ISSN: 0005-1098
DOI: 10.1016/0005-1098(96)00005-2

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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