Modeling and control of two constrained manipulators
β Scribed by Xiaoping Yun
- Publisher
- Springer Netherlands
- Year
- 1991
- Tongue
- English
- Weight
- 666 KB
- Volume
- 4
- Category
- Article
- ISSN
- 0921-0296
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The end e ector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being di erent from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act alon
Abtdmet-Constrained motion control of robotic manipulators represents an important control task in many industrial applications. In this paper, a learning control problem is solved for simultaneous motion and force tracking of a robotic manipulator whose end-effector is in contact with the constrain