Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
Author:
Affiliation:
1. Escuela Superior Politécnica del Litoral, ESPOL Facultad de Ingeniería en Mecánica y Ciencias de la Producción, , P. O. Box 09-01-5863, Guayaquil , Ecuador
2. Stony Brook University Department of Mechanical Engineering, , Stony Brook, NY 11794
Abstract
Publisher
ASME International
Subject
Mechanical Engineering
Link
https://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/15/5/051010/6946784/jmr_15_5_051010.pdf
Reference25 articles.
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2. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation;Khatib;IEEE J. Rob. Autom.,1987
3. Robust Impedance Control and Force Regulation: Theory and Experiments;Lu;Int. J. Rob. Res.,1995
4. Computing and Controlling Compliance of a Robotic Hand;Cutkosky;IEEE. Trans. Rob. Autom.,1989
5. Force Control
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