Stability analysis of DOF force position control for robot manipulators
نویسندگان
چکیده
In this paper we propose a force position control scheme in a DOF task space which is a generalization of the parallel control scheme in a DOF task space The con troller consists of a PD action on the position loop a PI action on the force loop together with gravity com pensation and feedforward of the desired contact force Kinestatic ltering is not used in the scheme Euler pa rameters are adopted to describe end e ector orientation The model of interaction wrench force and moment is formulated with a generalized spring Stability of the pro posed scheme is established through the Lyapunovmethod
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