Stable hybrid position/force control for redundant manipulators

被引：0
|
作者：
Li, LY
Gruver, WA
机构：
来源：
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION | 1997年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation.
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页码：3261 / 3266
页数：6
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