Title

Review And Unification Of Reduced-Order Force Control Methods

Title - Alternative

J. Robot. Syst.

Keywords

Manipulators; Robotics

Abstract

In this article, we compare some of the recent methods developed for simultaneous position and force control of a single n-link constrained robot manipulator. Mathematical models of the constrained manipulator are introduced and the advantages and disadvantages of the associated control formulations are discussed. The similarities between each of the proposed formulations are also highlighted. Finally, a transformation is presented that generalizes the methods of decoupling force from the position dynamics.

Publication Title

Journal of Robotic Systems

Volume

10

Issue/Number

4

Publication Date

1-1-1993

Document Type

Article

Language

English

First Page

481

Last Page

504

WOS Identifier

WOS:A1993LD56300005

ISSN

0741-2223

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