On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment
نویسندگان
چکیده
منابع مشابه
Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment
In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measured forc...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2010
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2009.2022170