Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment

DOI10.1016/j.ijengsci.2008.06.010zbMath1213.93028OpenAlexW2026087348MaRDI QIDQ540836

Muhammad Farooq, Dao-Bo Wang

Publication date: 4 June 2011

Published in: International Journal of Engineering Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.ijengsci.2008.06.010

zbMATH Keywords

Lyapunov stabilitysliding controlforce controlfriction forcerobot end effector

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Cites Work

• Unnamed Item
• Implementation of a new PC based controller for a PUMA robot
• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• Position and force control of flexible joint robots during constrained motion tasks
• Adaptive control of robot manipulators with flexible joints
• Adaptive control of flexible joint robots using position and velocity feedback
• A new approach to robust position/force control of flexible-joint robot manipulators

This page was built for publication: Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment