Fuzzy unidirectional force control of co
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L. Huang; S.S. Ge; T.H. Lee
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Article
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2003
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Elsevier Science
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English
β 198 KB
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