MANIPULATION
Adaptive hybrid force-position control for redundant manipulators
Rogelio Lozano, Bernard Brogliato
- Year
- 1992
- Citations
- 77
Abstract
An adaptive control scheme for manipulators with redundant degrees of freedom is presented. The control purpose is to achieve a desired interaction force between the end-effector and the environment as well as to regulate the robot tip position in the Cartesian space. This control approach does not require measurement of the joint acceleration or the force derivative.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Cartesian coordinate systemPosition (finance)Control theory (sociology)Adaptive controlRobot end effectorComputer scienceControl engineeringRobot manipulatorRobotControl (management)
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