Robust position/force control of robot manipulators during constrained tasks

IEE Proceedings: Control Theory and Applications

Volumn 145, Issue 4, 1998, Pages 427-433

  Song, G ^a,b   Cai, L ^a  

^a NAVAL POSTGRADUATE SCHOOL   (United States)

^b HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

Control; Robot manipulators; Tasking

Indexed keywords

CONSTRAINT THEORY; FORCE CONTROL; FRICTION; LYAPUNOV METHODS; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

ENVIRONMENTAL STICK-SLIP FRICTION; SLIDING-MODE BASED SMOOTH ROBUST COMPENSATORS;

MANIPULATORS;

EID: 0032118251     PISSN: 13502379     EISSN: None     Source Type: Journal    
DOI: 10.1049/ip-cta:19982114     Document Type: Article

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