• DocumentCode
    321278
  • Title

    A nonlinear controller for position and force control of robotic devices interacting with passive environments

  • Author

    Dasgupta, A.

  • Author_Institution
    Centre for Robotics, Indian Inst. of Technol., Kanpur, India
  • Volume
    2
  • fYear
    1997
  • fDate
    10-12 Dec 1997
  • Firstpage
    1353
  • Abstract
    This paper presents a new class of controllers for position and force control of robotic devices interacting with passive environments. The theory has been presented for a single degree-of-freedom system
  • Keywords
    force control; nonlinear control systems; position control; robot dynamics; state-space methods; dynamics; force control; nonlinear control systems; position control; robots; state space method; Control systems; Error correction; Force control; Force sensors; Impedance; Manipulator dynamics; Nonlinear equations; Position control; Robot control; Velocity control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
  • Conference_Location
    San Diego, CA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-4187-2
  • Type

    conf

  • DOI
    10.1109/CDC.1997.657647
  • Filename
    657647
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=321278