An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment

DOI10.1016/S0167-6911(97)90017-7zbMath0901.93045MaRDI QIDQ1391878

Luigi Villani, Bruno Siciliano

Publication date: 23 July 1998

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

Lyapunov stabilityoutput feedbackroboticssemiglobal stabilityposition controlforce control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Unnamed Item
• Global regulation of robots using only position measurements
• A passivity-based approach to force regulation and motion control of robot manipulators
• Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity
• Modelling and control of robot manipulators.
• Impedance Control: An Approach to Manipulation: Part III—Applications
• An adaptive force/position regulator for robot manipulators
• Force/position regulation of compliant robot manipulators
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators

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