Title :
Edge-following strategies using the parallel control formulation
Author :
Chiaverini, Stefano ; Sciavicco, Lorenzo
Author_Institution :
Dipartimento di Inf. e Sistemistica, Univ. degli Studi di Napoli, Italy
Abstract :
Different strategies to deal with edge-following tasks for robotic manipulators are analyzed and compared in the common framework provided by the parallel control technique, which proves a flexible tool for handling interaction tasks. Simulation results show that the use of force-based logic in the task planning results in helpful support for the operation of the robot control system
Keywords :
position control; robots; edge-following strategies; force-based logic; interaction tasks; parallel control formulation; robotic manipulators; Admittance; End effectors; Force control; Impedance; Logic; Manipulators; Motion control; Parallel robots; Position control; Robot control;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269903
