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Constrained Motion Control of Manipulation Robots – A Contribution

Published online by Cambridge University Press:  09 March 2009

Dragan M. Stokić
Dragan M. Stokić
Affiliation:
Institute “M. Pupin”, P.O.B. 15, Volgina 15, Beograd (Yugoslavia)
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Summary

The problems concerning the control of constrained motion of manipulation robots are discussed in the paper. Two general problems of hybrid position/force control are considered: the problem of interaction between position and force control and the problem of contact between a robot and an environment. Some promising solutions to these problems are identified. It is shown that adaptive control is necessary to solve these problems. A new control scheme is proposed and results of computer simulations are presented

Keywords

Motion controlRobotsConstrained motion
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 157 - 163
Copyright
Copyright © Cambridge University Press 1991

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