• DocumentCode
    114199
  • 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
  • fYear
    2014
  • fDate
    15-17 Dec. 2014
  • Firstpage
    25
  • Lastpage
    30
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
  • Conference_Location
    Los Angeles, CA
  • Print_ISBN
    978-1-4799-7746-8
  • Type

    conf

  • DOI
    10.1109/CDC.2014.7039354
  • Filename
    7039354
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=114199