A passivity-based approach to force regulation and motion control of robot manipulators
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Publication:1915015
DOI10.1016/0005-1098(95)00173-5zbMath0850.93532OpenAlexW2043739434MaRDI QIDQ1915015
Bruno Siciliano, Luigi Villani
Publication date: 20 November 1996
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/0005-1098(95)00173-5
Popov-type stability of feedback systems (93D10) Automated systems (robots, etc.) in control theory (93C85)
Related Items (3)
Bilateral parallel force/position teleoperation control ⋮ Robust dissipative control for linear systems with dissipative uncertainty and nonlinear perturbation ⋮ An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
Cites Work
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- Adaptive motion control of rigid robots: A tutorial
- Impedance Control: An Approach to Manipulation: Part III—Applications
- Feedback stabilization and tracking of constrained robots
- Stability analysis of position and force control for robot arms
- Force/motion control of constrained robots using sliding mode
- Adaptive hybrid force-position control for redundant manipulators
- An adaptive force/position regulator for robot manipulators
- Force/position regulation of compliant robot manipulators
- Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto
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