Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment (Q1386914)
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scientific article; zbMATH DE number 1157964
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment |
scientific article; zbMATH DE number 1157964 |
Statements
Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment (English)
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3 August 1998
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The aim is to propose control laws for simultaneous stabilization of the motion and of the interaction force within the framework of a new approach for the control of robot manipulators interacting with a dynamic environment. For this purpose, a new hybrid position/force control procedure is proposed. This procedure relies on assumptions different from those based on ``orthogonal complements''. The method is illustrated for a manipulator with six degrees of freedom.
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automated systems
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simultaneous stabilization
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interaction force
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robot manipulators
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dynamic environment
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hybrid position
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force control
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