Integral Force Control with Robustness Enhancement

IEEE Control Systems

Volumn 14, Issue 1, 1994, Pages 31-40

  Wilfinger, L S ^a   Wen, J T ^a   Murphy, S H ^b  

^a RENSSELAER POLYTECHNIC INSTITUTE   (United States)

^b ABB CORPORATE RESEARCH   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; ERROR ANALYSIS; NUMERICAL ANALYSIS; PERFORMANCE; ROBUSTNESS (CONTROL SYSTEMS); SCHEDULING;

FORCE DISTURBANCES; ROBUSTNESS ENHANCEMENT;

FORCE CONTROL;

EID: 0028378861     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.257892     Document Type: Article

References (8)

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2. D.E. Whitney, “Historical perspective and state of the art in robot force control,” Int. J. Robotics Res., vol. 6. no. 1, pp. 3–14, 1987.
3. R. Volpe, “Real and artificial forces in the control of manipulators: Theory and Experiments,” Ph.D. thesis, Carnegie Mellon Univ., 1990.
4. J.T. Wen and S.H. Murphy. “Stability analysis of position and force control for robotic arms,” IEEE Trans. Auto. Control. vol. 36, no. 3. pp. 365–371, Mar. 1991.
5. M.W. Spong and M. Vidyasagar. Robot Dynamics and Control. New York, NY: Wiley. 1989.
6. J.F. Watson, III, D.R. Lefebvre, S.H. Murphy. A.A. Desrochers, and K.R. Fieldhouse, “Testbed for cooperative robotic manipulators,” in Intelligent Robotic Systems for Space Exploration. A.A. Desrochers, Ed. Kluwer, 1992.
7. L.S. Wilfinger, “A comparison of force control algorithms for robots in contact with flexible environments,” M.A. thesis. Rensselaer Polytechnic Institute. Troy, NY, Dec. 1992.
8. R. Volpe and P. Khosla, “Experimental verification of a strategy for impact control,” in Proc. 1991 IEEE Int. Conf. Robot. Auto., Sacramento, CA, Apr. 1991, pp. 1854–1860.