Compliance Control of a 6-Link Electro-Hydraulic Manipulator

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

Volumn 64, Issue 624, 1998, Pages 3019-3025

  Ahn, Kyoungkwan ^a   Yokota, Shinichi ^a   Ozeki, Tomohiko ^a   Yamamoto, Toshirou ^a  

^a NONE

Author keywords

Compliance Control; Disturbance Observer; Hydraulic Control; Manipulator; Multi Link; Peg in Hole Task; Robust Control

Indexed keywords

EID: 0345081095     PISSN: 03875024     EISSN: None     Source Type: Journal    
DOI: 10.1299/kikaic.64.3019     Document Type: Article

References (2)

1. Hogan, N., Impedance Control: An Approach to Manipulation Part2 — Implementation, Trans. ASME, J. Dyn. Syst. Meas. Control, Vol. 107 (1985), 8–16.
2. Whitney, D. E., Quasi-Static Assembly of Compliantly Supported Rigid Parts, Trans. ASME, J. Dyn. Syst. Meas. Control, Vol. 104 (1982), 66–77.