Stability analysis of position and force control for robot arms

DOI10.1109/9.73573zbMath0737.93053OpenAlexW2113041525WikidataQ56424150 ScholiaQ56424150MaRDI QIDQ3981741

Steve Murphy, John Ting-Yung Wen

Publication date: 26 June 1992

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.73573

zbMATH Keywords

robot manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (8)

Adaptive explicit force control of position-controlled manipulators ⋮ A passivity-based approach to force regulation and motion control of robot manipulators ⋮ Implicit force control for industrial robots in contact with stiff surfaces ⋮ Independent force and position control for cooperating manipulators. ⋮ Motion and force control of multiple robotic manipulators ⋮ Learning impedance control for physical robot–environment interaction ⋮ Stability and transparency of delayed bilateral teleoperation with haptic feedback ⋮ Force measurement time-delays and contact instability phenomenon

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