Toward the implementation of hybrid position/force control in industrial robots

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 6, 1997, Pages 838-845

  Ferretti, G ^a   Magnani, G ^a   Rocco, P ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

Contact modeling; Force control; Industrial robots; Joint compliance; PID control

Indexed keywords

DYNAMICS; FORCE CONTROL; MATHEMATICAL MODELS; POSITION CONTROL; THREE TERM CONTROL SYSTEMS; TRACKING (POSITION); TRAJECTORIES;

CONTACT MODEL; DIFFERENTIAL KINEMATIC MODEL; HYBRID CONTROL SYSTEMS; TRIANGULAR CONTROL;

INDUSTRIAL ROBOTS;

EID: 0031352358     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.650162     Document Type: Article

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