Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment
type: Item
instance of: scholarly article
title: Simulation experiments with a new procedure of hybrid control of robotic manipulators interacting with a dynamic environment
zbMATH Open document ID: 0907.93041
author: D. Massart
published in: Journal of Computer and Systems Sciences International
publication date: 1998-08-03T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 1157964
zbMATH Keywords: automated systems
zbMATH Keywords: simultaneous stabilization
zbMATH Keywords: interaction force
zbMATH Keywords: robot manipulators
zbMATH Keywords: dynamic environment
zbMATH Keywords: hybrid position
zbMATH Keywords: force control
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 1157964