SCOPUS 정보 검색 플랫폼

IEEE Transactions on Robotics and Automation

Volumn 18, Issue 2, 2002, Pages 121-137

Adaptive force control of position/velocity controlled robots: Theory and experiment

(2) Roy, Jaydeep a,b Whitcomb, Louis L a,b

a IEEE (United States)

b Johns Hopkins University (United States)

Author keywords

Adaptive force control; Implicit force control; Position based force control; Robot force control; Stability

Indexed keywords

ADAPTIVE FORCE CONTROL; IMPLICIT FORCE CONTROL; POSITION-BASED FORCE CONTROL; ROBOT FORCE CONTROL;

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; ASYMPTOTIC STABILITY; ERRORS; INDUSTRIAL ROBOTS; MANIPULATORS; POSITION CONTROL; ROBOTIC ARMS; VELOCITY CONTROL;

FORCE CONTROL;

EID: 0036529594 PISSN: 1042296X EISSN: None Source Type: Journal
DOI: 10.1109/TRA.2002.999642 Document Type: Article

Times cited : (171)

References (36)

1
- 0033720210
- Force control of robot manipulators
- (2000) Proc. IEEE Int. Conf. Robotics and Automation , vol.1 , pp. 220-226
- Yoshikawa, T.¹

2
- 0022027124
- Impedence control: An approach to manipulation: Part I - Theory
- Mar.
- (1985) J. Dynamic Syst., Measurement Contr. , vol.107 , pp. 1-7
- Hogan, N.¹

3
- 0022026637
- Impedance control: An approach to manipulation: Part II - Implementation
- Mar.
- (1985) J. Dynamic Syst., Measurement Contr. , vol.107 , pp. 8-16
- Hogan, N.¹

4
- 0022029065
- Impedence control: An approach to manipulation: Part III - Applications
- Mar.
- (1985) J. Dynamic Syst., Measurement Contr. , vol.107 , pp. 17-24
- Hogan, N.¹

5
- 0019573303
- Hybrid position/force control of manipulators
- Feb.
- (1981) J. Dynamic Syst., Measurement Contr. , vol.103 , Issue.2 , pp. 126-133
- Raibert, M.¹ Craig, J.²

6
- 0019583561
- Compliance and force control for computer controlled manipulators
- June
- (1981) IEEE Trans. Syst., Man, Cybern. , vol.SMC-11 , pp. 418-432
- Mason, M.¹

7
- 0023438787
- Dynamic hybrid position/force control of robot manipulators - Description of hand constraints and calculation of joint driving force
- Oct.
- (1987) IEEE J. Robot. Automat. , vol.RA-3 , pp. 386-392
- Yoshikawa, T.¹

8
- 0024014968
- Feedback stabilization and tracking of constrained robots
- May
- (1988) IEEE Trans. Automat. Contr. , vol.33 , pp. 419-426
- McClamroch, N.¹ Wang, D.²

9
- 0030110334
- A passivity-based approach to force regulation and motion control of robot manipulators
- Mar.
- (1996) Automatica , vol.32 , Issue.3 , pp. 443-447
- Siciliano, B.¹ Villani, L.²

10
- 0023994415
- Dynamics and simulation of compliant motion of a manipulator
- Apr.
- (1988) IEEE J. Robot. Automat. , vol.4 , pp. 163-173
- Kankaanranta, R.¹ Koivo, H.²

11
- 0032648323
- An exponentially stable adaptive control for force and position tracking of robot manipulators
- Apr.
- (1999) IEEE Trans. Automat. Contr. , vol.44 , pp. 778-802
- Villani, L.¹ De Wit, C.C.² Brogliato, B.³

12
- 0024065616
- Compliant robot motion II. A control approach based on external control loops
- Aug.
- (1988) Int. J. Robot. Res. , vol.7 , Issue.4 , pp. 18-33
- De Schutter, J.¹ Van Brussel, H.²

13
- 0027702828
- A theoretical and experimental investigation of explicit force control strategies for manipulators
- Nov.
- (1993) IEEE Trans. Automat. Contr. , vol.38 , pp. 1634-1650
- Volpe, R.¹ Khosla, P.²

14
- 0001432914
- Three dynamic problems in robot force control
- Dec.
- (1992) IEEE Trans. Robot. Automat. , vol.8 , pp. 751-758
- Eppinger, S.D.¹ Seering, W.P.²

15
- 0027881981
- Development and experimental verification of a mathematical model for robot force control design
- (1993) IEEE/RSJ Int. Conf. Intelligent Robots and Systems , vol.2 , pp. 1559-1565
- Alici, G.¹ Daniel, R.W.²

16
- 0027303570
- Model-based adaptive hybrid control for geometrically constrained robots
- Proc. IEEE Int. Conf. Robotics and Automation, 1993 , pp. 163-173
- Arimoto, S.¹ Liu, Y.² Naniwa, T.³

17
- 0031077457
- Adaptive model-based hybrid control of geometrically constrained arms
- Feb.
- (1997) IEEE Trans. Robot. Automat. , vol.13 , pp. 105-116
- Whitcomb, L.L.¹ Arimoto, S.² Naniwa, T.³ Ozaki, F.⁴

18
- 0026122340
- Stability analysis of position and force control for robot arms
- Mar.
- (1991) IEEE Trans. Automat. Contr. , vol.36 , pp. 365-371
- Wen, J.T.¹ Murphy, S.²

19
- 0022594401
- Experiments in force control of robotic manipulators
- Proc. IEEE Int. Conf. Robotics and Automation, 1986 , pp. 695-702
- Maples, J.¹ Becker, J.²

20
- 0026112781
- Theory and experiment on the stability of robot compliance control
- June
- (1991) IEEE Trans. Robot. Automat. , vol.7 , pp. 95-104
- Waibel, B.¹ Kazerooni, E.²

21
- 0003381255
- Automated force control schemes for robotic deburring
- Proc. IEEE Int. Conf. Industrial Electronics, Control and Automation, 1992 , pp. 912-917
- Duellen, G.¹ Münch, H.² Surdilovic, D.³

22
- 84973818711
- Static friction effects during hard-on-hard contact tasks and their implications for manipulator design
- Dec.
- (1994) Int. J. Robot. Res. , vol.13 , Issue.6 , pp. 508-520
- Alici, G.¹ Daniel, R.W.²

23
- 0029695630
- A new position based force/impedence control for industrial robots
- Proc. IEEE Int. Conf. Robotics and Automation, 1996 , pp. 629-634
- Surdilovic, D.¹ Kirchoff, J.²

24
- 0029709067
- Contact stability issues in position based impedence control: Theory and experiments
- Proc. IEEE Int. Conf. Robotics and Automation, 1996 , pp. 1675-1680
- Surdilovic, D.¹

25
- 0031272334
- Implicit force control for industrial robots in contact with stiff surfaces
- Nov.
- (1997) Automatica , vol.33 , Issue.11 , pp. 2041-2047
- Rocco, P.¹ Ferretti, G.² Magnani, G.³

26
- 0033692828
- Impedence control for industrial robots
- Proc. IEEE Int. Conf. Robotics and Automation, 2000 , pp. 4028-4033
- Ferretti, G.¹ Magnani, G.² Rocco, P.³

27
- 0031352358
- Toward the implementation of hybrid position/force control in industrial robots
- Dec.
- (1997) IEEE Trans. Robot. Automat. , vol.13 , pp. 838-845
- Ferretti, G.¹ Magnani, G.² Rocco, P.³

28
- 0033689397
- Force controllable hydro-elastic actuator
- Proc. IEEE Int. Conf. Robotics and Automation, 2000 , pp. 1321-1327
- Robinson, D.W.¹ Pratt, G.A.²

29
- 0025436681
- Stability and robustness analysis of a class of adaptive conrollers for robot arms
- June
- (1990) Int. J. Robot. Res. , vol.9 , pp. 74-92
- Sadegh, N.¹ Horowitz, R.²

30
- 0027543857
- Comparative experiments with a new adaptive controller for robot arms
- Feb.
- (1993) IEEE Trans. Robot. Automat. , vol.9 , pp. 59-70
- Whitcomb, L.L.¹ Rizzi, A.² Koditschek, D.E.³

31
- 0003728020
- Upper Saddle River, NJ: Prentice-Hall
- (1996) Linear System Theory, 2nd Ed.
- Rugh, W.J.¹

32
- 0004178386
- New York: Maxmillan
- (1992) Nonlinear Systems, 1st Ed.
- Khalil, H.K.¹

33
- 0003509637
- Englewood Cliffs, NJ: Prentice-Hall
- (1993) Nonlinear Systems Analysis, 2nd Ed.
- Vidyasagar, M.¹

34
- 0033702453
- Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation
- (2000) Proc. IEEE Int. Conf. Robotics and Automation , vol.1 , pp. 610-617
- Kumar, R.¹ Berkelman, P.² Gupta, P.³ Barnes, A.⁴ Jensen, P.S.⁵ Whitcomb, L.L.⁶ Taylor, R.H.⁷

35
- 0033340969
- A steady-hand robotic system for microsurgical augmentation
- Dec.
- (1999) Int. J. Robot. Res. , vol.18 , Issue.12 , pp. 1201-1210
- Taylor, R.H.¹ Jensen, P.² Whitcomb, L.L.³ Barnes, A.⁴ Kumar, R.⁵ Stoianovici, D.⁶ Gupta, P.⁷ Wang, Z.⁸ De Juan, E.⁹ Kavoussi, L.R.¹⁰

36
- 84947720246
- A modular surgical system for image guided percutaneous procedures
- W. M. Wells, A. Colchester, and S. Delp, Eds, Berlin, Germany: Springer-Verlag, Oct.
- (1998) Lecture Notes in Computer Science 1496: Medical Imaging and Computer-Assisted Intervention-MICCAI'98 , vol.1496 , pp. 404-410
- Stoianovici, D.¹ Whitcomb, L.L.² Anderson, J.H.³ Taylor, R.H.⁴ Kavoussi, L.R.⁵

* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.