Motion control of non-fixed base robotic manipulators
نویسندگان
چکیده
منابع مشابه
Compliant motion control for non-redundant rigid robotic manipulators
A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. exact knowledge of robot dynamics and environment sti ness is not required. The controller is constructed so as to track reference trajectories in the unconstrained directions and to regulate force at a desired value in the constrained directions. Changes in co...
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ژورنال
عنوان ژورنال: Robotica
سال: 1999
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574799001186