Title

Review And Unification Of Reduced‐Order Force Control Methods

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. Copyright © 1993 Wiley Periodicals, Inc., A Wiley Company

Publication Date

1-1-1993

Publication Title

Journal of Robotic Systems

Volume

10

Issue

4

Number of Pages

481-504

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1002/rob.4620100406

Socpus ID

0027612404 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0027612404

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