Introduction to Dynamic Models for Robot Force Control

IEEE Control Systems Magazine

Volumn 7, Issue 2, 1987, Pages 48-52

  Eppinger, Steven D ^a   Seering, Warren P ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL, MECHANICAL VARIABLES - FORCES;

DYNAMIC MODELS; RIGID BODY ROBOT MODEL; ROBOT FORCE CONTROL;

ROBOTS, INDUSTRIAL;

EID: 0023327871     PISSN: 02721708     EISSN: None     Source Type: Journal    
DOI: 10.1109/MCS.1987.1105274     Document Type: Article

References (13)

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3. M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Trans. Syst., Man, Cyber., vol. SMC-11, pp. 418–432, June 1981.
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9. Y. H. S. Luh, W. D. Fisher, and R. P. C. Paul, “Joint Torque Control by a Direct Feedback for Industrial Robots,” IEEE Trans. Auto. Contr., vol. AC-28, Feb. 1983.
10. R. K. Roberts, R. P. Paul, and B. M. Hill-berry, “The Effect of Wrist Force Sensor Stiffness on the Control of Robot Manipulators,” Proc. Int. Conf. Robot, Autom., Mar. 1985.
11. W. B. Gevarter, “Basic Relations for Control of Flexible Vehicles,” AIAA J., vol. 8, no. 4, pp. 666–672, Apr. 1970.
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13. L. M. Sweet and M. C. Good, “Redefinition of the Robot Motion Control Problem,” IEEE Cont. Syst. Mag., pp. 18–25, Aug. 1985.