Robotic force control using observer-based strict positive real impedance control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3686-3691

  Johansson, Rolf ^a   Robertsson, Anders ^a  

^a LUND INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

Impedance control; Observers; Popov criterion; Robotics; Stability

Indexed keywords

DAMPING; FEEDBACK CONTROL; FORCE CONTROL; IDENTIFICATION (CONTROL SYSTEMS); MATHEMATICAL MODELS; MODIFICATION; OBSERVABILITY; ROBOTICS; SYSTEM STABILITY; TWO TERM CONTROL SYSTEMS; VELOCITY MEASUREMENT;

IMPEDANCE CONTROL; POPOV CRITERION; ROBOT JOINT; ROBOTIC FORCE CONTROL; VELOCITY FEEDBACK;

INDUSTRIAL ROBOTS;

EID: 0344464852     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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