MANIPULATION
Robustified Force and Collision Control for Robot Manipulator.
Koji Shimura, Yoichi Hori
- Year
- 1993
- Citations
- 3
- Access
- Open access
Abstract
It is important that we control a robot manipulator considering contact with an object . In force control we have two difficulties caused by (1) environmental parameter change and (2) large contact force at collision. The collision always happens in a short transient period from trajectory control to force control.
Keywords
CollisionControl theory (sociology)Feed forwardController (irrigation)Position (finance)TrajectoryContact forceRobotComputer scienceEngineering
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