Title
Review And Unification Of Reduced-Order Force Control Methods
Abbreviated Journal Title
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.
Journal 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
ISSN
0741-2223
Recommended Citation
"Review And Unification Of Reduced-Order Force Control Methods" (1993). Faculty Bibliography 1990s. 708.
https://stars.library.ucf.edu/facultybib1990/708
Comments
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