Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment
The aim is to propose control laws for simultaneous stabilization of the motion and of the interaction force within the framework of a new approach for the control of robot manipulators interacting with a dynamic environment. For this purpose, a new hybrid position/force control procedure is proposed. This procedure relies on assumptions different from those based on ``orthogonal complements''. The method is illustrated for a manipulator with six degrees of freedom.
scientific article; zbMATH DE number 1157964