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Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty

✍ Scribed by Chunqing Huang; Lisang Liu; Xinggui Wang; Songjiao Shi

Book ID: 107504614
Publisher: South China University of Technology and Academy of Mathematics and Systems Science, CAS
Year: 2007
Tongue: English
Weight: 263 KB
Volume: 5
Category: Article
ISSN: 1672-6340
DOI: 10.1007/s11768-006-6084-1

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✍ B. Siciliano; L. Villani 📂 Article 📅 1997 🏛 Elsevier Science 🌐 English ⚖ 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