By Topic

Constrained robot motion in presence of stiff and compliant contact

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Manes, C. ; Dipartimento di Ingegneria Elettrica, L''Aquila Univ., Italy

The problem of simultaneous position and force control for robots moving in contact with the environment is typically formulated under the assumption of infinitely stiff interaction. A rigorous approach is presented to formulate and solve the control problem under both stiff and compliant assumptions. A suitable formalism is first developed for the description of robot-environment stiff and compliant interactions. The model structure obtained is helpful for the design of control schemes of various complexity and for the construction of stability proofs. Two kinds of control laws are derived, denoted as dynamic and kinematic, respectively. Dynamic control laws fully exploit the robot-environment kinematic and dynamic models, while kinematic laws use the kinematic description of robot dynamics

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993