An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment

Systems and Control Letters

Volumn 29, Issue 5, 1997, Pages 295-300

  Siciliano, B ^a   Villani, L ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

Force control; Lyapunov stability; Output feedback; Position control; Robotics

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; FEEDBACK; FORCE CONTROL; LYAPUNOV METHODS; ROBOTICS; SYSTEM STABILITY;

OUTPUT FEEDBACK; PARALLEL FORCE;

POSITION CONTROL;

EID: 0031079255     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0167-6911(97)90017-7     Document Type: Article

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