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Force/position regulation of compliant robot manipulators

โœ Scribed by Chiaverini, S.; Siciliano, B.; Villani, L.

Book ID
118252487
Publisher
IEEE
Year
1994
Tongue
English
Weight
612 KB
Volume
39
Category
Article
ISSN
0018-9286

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๐Ÿ“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
โœ B. Siciliano; L. Villani ๐Ÿ“‚ Article ๐Ÿ“… 1997 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 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