Experimental study of contact transition control incorporating joint acceleration feedback
نویسندگان
چکیده
منابع مشابه
Contact transition control via joint acceleration feedback
Stable and controllable transition from free motion to constrained motion is of central importance for robots in contact with environment in many applications. In this paper, a joint acceleration feedback control of high bandwidth is employed to damp oscillations during the contact transition when the approaching speed does not vanish. In this control scheme, a classical integral force controll...
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ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2000
ISSN: 1083-4435
DOI: 10.1109/3516.868921