Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller

Automatica

Volumn 48, Issue 2, 2012, Pages 360-365

  Bechlioulis, Charalampos P ^a   Doulgeri, Zoe ^a   Rovithakis, George A ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

Approximation free controller; Contact maintenance; Force position tracking; Prescribed performance

Indexed keywords

6-DOF ROBOTS; CLOSED-LOOP SIGNALS; COMPARATIVE SIMULATION; COMPLIANT CONTACTS; CONTROL GAINS; FORCE DEFORMATION; NONSINGULAR; PLANAR SURFACE; PRESCRIBED PERFORMANCE; REVOLUTE JOINTS; ROBOT DYNAMICS; SPEED OF RESPONSE; STEADY STATE ERRORS; TRACKING ERRORS; TRACKING PERFORMANCE;

CONTROLLERS; MAINTENANCE;

ROBOTS;

EID: 84856220804     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2011.07.009     Document Type: Article

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