Regulation of force and position for a robot manipulator in contact with a compliant environment

被引：0
|
作者：
Villani, L [1 ]
Siciliano, B [1 ]
de Wit, CC [1 ]
机构：
[1] Univ Naples Federico 2, Dipartimento Sistemi & Informat, I-80125 Naples, Italy
来源：
ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年
关键词：
robots; force control; position control; adaptive control; regulation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is concerned with the problem of regulating force and position for a robot manipulator whose end effector is in contact with a compliant environment. The end-effector position set point is suitably scaled in order to match the desired force set point along the normal direction, where the scaling factor is updated according to an adaptive mechanism. Global asymptotic stability is formally proved. Experimental results on an industrial robot with open control architecture are presented.
引用
收藏
页码：333 / 338
页数：4
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