A Stability Analysis of Force Control Based on Momentum-Reference-Cited by-同舟云学术

A Stability Analysis of Force Control Based on Momentum

Published:2009 Issue:6 Volume:129 Page:614-621
ISSN:0913-6339
Container-title:IEEJ Transactions on Industry Applications
language:en
Short-container-title:IEEJ Trans. IA

Author:

Sakaino Sho¹,Sato Tomoya¹,Ohnishi Kouhei¹

Affiliation:

1. Department of System Design Engineering, Faculty of Science and Technology, Keio University

Publisher

Institute of Electrical Engineers of Japan (IEE Japan)

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering

Link

http://www.jstage.jst.go.jp/article/ieejias/129/6/129_6_614/_pdf

Reference21 articles.

1. (1) N. Hogan: “Impedance control part 1-part 3”, Journal of Dynamic Systems, Measurement, and Control, Vol. 107, pp. 1-24 (1985)

2. (2) D. A. Lawrence: “Impedance control stability properties in common implementations”, IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1185-1190 (1988-4·24/29)

3. (3) J. Y. S. Luh, M. W. Walker, and R. P. C. Paul: “Resolved-acceleration control of mechanical manipulators”, IEEE Trans. Automatic Control, Vol. AC-28, No. 3, pp. 468-474 (1980)

4. (4) M. H. Raibert and J. J. Craig: “Hybrid position/force control of robot manipulators”, Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 126-133 (1981)

5. (5) O. Khatib: “A unified approach for motion and force control of robot manipulators : The operational space formulation”, IEEE Trans. Robotics and Automation, Vol. RA-3, No. 1, pp. 43-53 (1987)

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