Experimental verifications of virtual-decomposition-based motion/force control

IEEE Transactions on Robotics and Automation

Volumn 18, Issue 3, 2002, Pages 379-386

  Zhu, Wen Hong ^a,b   De Schutter, Joris ^a  

^a UNIVERSITY OF LEUVEN   (Belgium)

^b CANADIAN SPACE AGENCY   (Canada)

Author keywords

Adaptive control; Constrained robots; Force control; Industrial manipulators; Motion control; Tracking

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; FORCE CONTROL; MANIPULATORS; ROBOTIC ARMS;

CONSTRAINED ROBOTS;

INDUSTRIAL ROBOTS;

EID: 0036613494     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.1019474     Document Type: Article

References (16)

1. Virtual decomposition based control for generalized high dimensional robotic systems with complicated structure
2. Modeling of robots in contact with a dynamic environment
3. Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition
4. A simple alternative to the Barbǎlat Lemma
5. A task space decoupling approach to hybrid control of manipulators
6. Robust hybrid dynamic control of robot arms
7. Adaptive control for holonomically constrained robots: Time-invariant and time-variant cases
8. An adaptive approach to constrained robot motion control
9. A theoretical and experimental investigation of explicit force control strategies for manipulators
10. A theoretical and experimental investigation of impact control for manipulators
11. Impact modeling and control for industrial manipulators
12. Control strategies for robotic contact tasks: An experimental study
13. A method for controlling robotic contact tasks
14. Direct adaptive impedance control including transition phases
15. Toward smooth analysis of robotic contact tasks problem
16. Control of contact problem in constrained Euler-Lagrangian systems