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Position and force control by reaction compensation

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2 Author(s)
Tanner, H.G. ; Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece ; Kyriakopoulos, K.J.

The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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