DocumentCode
1656915
Title
Control of robot manipulators with constrained motion
Author
Cole, Arlene A.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear
1989
Firstpage
1657
Abstract
A hybrid control scheme for robot manipulators under constrained motion is proposed. The control law provides simultaneous position and force control for the manipulator in orthogonal directions. It is shown how the scheme will work for manipulators constrained to follow some rigid, frictionless constraint surface
Keywords
control system analysis; force control; position control; robots; constrained motion; force control; position control; robot manipulators; End effectors; Force control; Laboratories; Manipulators; Motion control; Position control; Pressing; Robot control; Strain control; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location
Tampa, FL
Type
conf
DOI
10.1109/CDC.1989.70429
Filename
70429
Link To Document