Robot force control with an actively dam
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Joris De Schutter; Dirk Torfs; Herman Bruyninckx
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Article
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1996
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Elsevier Science
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English
β 631 KB
This paper proposes a new method for the hybrid force/position control of an industrial robot, which is equipped with an internal, high bandwidth velocity controller and with a compliant end effector, during constrained motion. The method combines force control with results from active control of fl