Compliant Robot Motion II. A Control Approach Based on External Control Loops
نویسندگان
چکیده
منابع مشابه
On the Robot Compliant Motion Control
The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment, and a bound for stable manipulation has been derived. We show that for stabil...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1988
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836498800700402