Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties

Automatica

Volumn 39, Issue 5, 2003, Pages 847-855

  Cheah, C C ^a   Kawamura, S ^b   Arimoto, S ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Hybrid position and force control; Kinematic constraint uncertainty; Stability

Indexed keywords

INDUSTRIAL ROBOTS; KINEMATICS; MANIPULATORS; SYSTEM STABILITY;

ROBOTIC MANIPULATORS;

FORCE CONTROL;

EID: 0037401907     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(03)00002-5     Document Type: Article

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