Title :
A nonlinear controller for position and force control of robotic devices interacting with passive environments
Author_Institution :
Centre for Robotics, Indian Inst. of Technol., Kanpur, India
Abstract :
This paper presents a new class of controllers for position and force control of robotic devices interacting with passive environments. The theory has been presented for a single degree-of-freedom system
Keywords :
force control; nonlinear control systems; position control; robot dynamics; state-space methods; dynamics; force control; nonlinear control systems; position control; robots; state space method; Control systems; Error correction; Force control; Force sensors; Impedance; Manipulator dynamics; Nonlinear equations; Position control; Robot control; Velocity control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657647
