Motion/force decomposition of redundant manipulator and its application to hybrid impedance control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1441-1446

  Oh, Yonghwan ^a   Chung, Wan Kyun ^a   Youm, Youngil ^a   Suh, Il Hong ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL MANIPULATORS; NUMERICAL METHODS; REDUNDANT MANIPULATORS; ROBOTICS; FORCE CONTROL; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; REDUNDANCY;

CONTROL METHODS; HYBRID IMPEDANCE CONTROL; INTERNAL MOTION; ITS APPLICATIONS; JOINT SPACE; KINEMATIC REDUNDANCY; MOTION COMPONENTS; PARAMETRIZATIONS;

MOTION CONTROL; MANIPULATORS;

HYBRID IMPEDANCE CONTROL;

EID: 0031625275     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677307     Document Type: Conference Paper

References (9)

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