Edge-following strategies using the parallel control formulation

摘要

Different strategies to deal with edge-following tasks for robotic manipulators are analyzed and compared in the common framework provided by the parallel control technique, which proves a flexible tool for handling interaction tasks. Simulation results show that the use of force-based logic in the task planning results in helpful support for the operation of the robot control system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>