Implicit force control for industrial robots in contact with stiff surfaces

DOI10.1016/S0005-1098(97)00113-1zbMath0921.70019MaRDI QIDQ1129717

Paolo Rocco, Gianni Ferretti, Gianantonio Magnani

Publication date: 20 August 1998

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

stabilityclosed-loop systemPD controllerreaction forcesindustrial robot COMAU SMART 3Slow-frequency modetorque commands

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (1)

Control of Force in Surgical Robots with Random Time Delays Using Model Predictive Control

Cites Work

• Stability analysis of position and force control for robot arms
• Joint Stiffness Estimation Based on Force Sensor Measurements in Industrial Manipulators
• On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces

This page was built for publication: Implicit force control for industrial robots in contact with stiff surfaces