Motion/Force Control of Robotic Manipulators

[+] Author and Article Information
R. M. DeSantis

Ecole Polytechnique de Montréal 2900, boul. Edouard-Monipetit, CP6079-A, Montreal, Quebec, Canada, H3C 3A7

J. Dyn. Sys., Meas., Control 118(2), 386-389 (Jun 01, 1996) (4 pages) doi:10.1115/1.2802335 History: Received April 12, 1994; Online December 03, 2007


A procedure for the design of a motion/force controller for a manipulator, the end-effector of which maintains a stiff contact with the environment, is presented. Based on the computed torque approach and on projections on the motion and force subspace, this procedure leads to decoupled controllers that are capable of ensuring a global stability and are applicable to stationary as well as to mobile contact surfaces.

Copyright © 1996 by The American Society of Mechanical Engineers
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