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Position-Based Fuzzy Force Control for Dual Industrial Robots

โœ Scribed by Shih-Tin Lin; Ang-Kiong Huang


Book ID
110257090
Publisher
Springer Netherlands
Year
1997
Tongue
English
Weight
347 KB
Volume
19
Category
Article
ISSN
0921-0296

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A passivity-based adaptive sliding mode
โœ Vicente Parra-Vega; Suguru Arimoto ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 677 KB

Based on a novel orthogonalized sliding mode error co-ordinate system, a passivity-based adaptive sliding mode control that yields the global exponential convergence of position and force tracking errors is proposed. The holonomic constraint is efficiently manipulated to derive two orthogonal transf