A new scheme for hybrid force-position control

Lecture Notes in Control and Information Sciences

Volumn 187, Issue , 1993, Pages 150-159

  Perdereau, Véronique ^a   Drouin, Michel ^a  

^a UNIVERSITÉ PIERRE ET MARIE CURIE   (France)

Author keywords

[No Author keywords available]

Indexed keywords

MANIPULATORS;

EXTERNAL CONTROL; FORCE CONTROLLER; HIERARCHICAL STRUCTURES; HYBRID FORCE/POSITION CONTROL; NEW APPROACHES; RIGID ENVIRONMENT; ROBOTIC MANIPULATORS;

POSITION CONTROL;

EID: 78651494202     PISSN: 01708643     EISSN: 16107411     Source Type: Book Series    
DOI: 10.1007/bfb0031441     Document Type: Conference Paper

References (9)

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2. P. Kazanzides, N. Scott Bradley and W. A. WoIowich, "Dual-drive force/velocity control: implementation and experimental results", Actes IEEE International Conference on Robotics and Automation, Scottsdale, USA, 14-19 Mai 1989, pp.92-97
3. O. Khatib and J. Burdick, "Motion and force control of robot manipulators", Actes IEEE International Conference on Robotics and Automation, San Francisco, USA, 7-10 Avril 1986, pp.1381-1386
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7. M. H. Raibert and J. J. Craig, "Hybrid position/force control of manipulators", Transactions of ASME, vol.102, Juin 1981, pp.126-133
8. C. Reboulet and A. Robert, "Hybrid control of a manipulator equipped with an active compliant wrist", Actes 3rd International Symposium on Robotics Research, Gouvieux, France, 7-11 Octobre 1985, pp.237-241
9. D. L. Wedel and G. N. Saridis, "An experiment in hybrid position/force control of a six D.O.F. revolute manipulator", Actes IEEE International Conference on Robotics and Automation, Philadelphia, USA, 24-29 Avril 1988, pp. 1638-1642