Review And Unification Of Reduced-Order Force Control Methods

    Authors

    M. T. Grabbe; J. J. Carroll; D. M. Dawson;Z. Qu

    Comments

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    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

    WOS:A1993LD56300005

    ISSN

    0741-2223

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