On the decoupling of position and force controllers in constrained robotic tasks

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199806)15:6<323::AID-ROB2>3.0.CO;2-P" /><323::AID-ROB2>3.0.CO;2-P 10.1002/(SICI)1097-4563(199806)15:6<323::AID-ROB2>3.0.CO;2-PzbMath0967.70010OpenAlexW2002328974MaRDI QIDQ4269712

Zoe Doulgeri, Nikolaos Fahantidis, Avraam A. Konstantinidis

Publication date: 3 September 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199806)15:6<323::aid-rob2>3.0.co;2-p

zbMATH Keywords

position controlforce controlconstraining surfacecontrol discontinuitieshybrid space operational schememotion with contactmotion with non-contactplanar three-degree-of-freedom manipulatorsubcontroller decouplingsubcontroller output subspace

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

This page was built for publication: On the decoupling of position and force controllers in constrained robotic tasks