Title :
A reach control approach to bumpless transfer of robotic manipulators
Author :
Martino, Matthew ; Broucke, Mireille E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
Abstract :
We present a novel control method based on reach controllers to make the end effector of a robotic manipulator reach and maintain contact with an environment without inducing bouncing or switching between the reach control and force control modalities.
Keywords :
force control; manipulators; bumpless transfer; force control modalities; novel control method; reach control approach; robotic manipulators; Closed loop systems; Force; Manipulators; Switches; Trajectory; Vectors;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039354
