A robust position and force control strategy for 7-DOF redundant manipulators

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 5, 2009, Pages 575-589

  Patel, Rajni V ^a,b   Talebi, Heidar A ^c   Jayender, Jagadeesan ^a,d   Shadpey, Farshid ^e  

^a UNIVERSITY OF WESTERN ONTARIO   (Canada)

^b Canadian Surgical Technologies and Advanced Robotics CSTAR   (Canada)

^c AMIRKABIR UNIVERSITY OF TECHNOLOGY   (Iran)

^d BRIGHAM AND WOMEN S HOSPITAL   (United States)

^e BOMBARDIER AEROSPACE   (Canada)

Author keywords

Compliance control; Dextrous; Force control; Isotropically enhanced; Mitsubishi PA10 7C; Redundant; Redundant manipulators; Seven turning pair robot (REDIESTRO)

Indexed keywords

COMPLIANCE CONTROL; DEXTROUS; ISOTROPICALLY ENHANCED; MITSUBISHI PA10-7C; REDUNDANT; SEVEN-TURNING PAIR ROBOT (REDIESTRO);

FORCE CONTROL; REDUNDANT MANIPULATORS; ROBOTIC ARMS; SURFACE CLEANING; TRACKING (POSITION); TURNING;

CONTROLLERS;

EID: 70349239145     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.2009637     Document Type: Article

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