Title :
Stable Contact Control of Multi-Link Manipulator with Collision Phenomena
Author :
Shoji, Yasumasa ; Inaba, Masayuki ; Fukuda, Toshio ; Hosokai, Hidemi
Author_Institution :
Nagoya University, Department of Mechanical Engineering, Japan
Keywords :
Control systems; Energy loss; Hardware; Lyapunov method; Manipulator dynamics; Mathematical model; Mechanical engineering; Numerical simulation; Service robots; Stability analysis;
Conference_Titel :
Intelligent Motion Control, 1990. Proceedings of the IEEE International Workshop on
DOI :
10.1109/IMC.1990.687338
