DocumentCode
1006653
Title
Adaptive hybrid force-position control for redundant manipulators
Author
Lozano, R. ; Brogliato, B.
Author_Institution
Univ. de Technol. de Compiegne, France
Volume
37
Issue
10
fYear
1992
fDate
10/1/1992 12:00:00 AM
Firstpage
1501
Lastpage
1505
Abstract
An adaptive control scheme for manipulators with redundant degrees of freedom is presented. The control purpose is to achieve a desired interaction force between the end-effector and the environment as well as to regulate the robot tip position in the Cartesian space. This control approach does not require measurement of the joint acceleration or the force derivative
Keywords
adaptive control; force control; position control; redundancy; robots; Cartesian space; adaptive control; end-effector; hybrid force-position control; redundant manipulators; robot tip position; Adaptive control; Force control; Force measurement; Manipulators; Motion control; Orbital robotics; Programmable control; Robot kinematics; Service robots; Torque;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.256368
Filename
256368
Link To Document