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position/force control

Robotica (1)

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1 results

Iterative learning in variable structure position/force hybrid control of manipulators
Abílio Azenha
Journal:

Robotica / Volume 18 / Issue 2 / March 2000

Published online by Cambridge University Press:

01 March 2000, pp. 213-217
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This paper presents a novel approach to the hybrid position/force control of robot manipulators employed in executing repetitive tasks that involve contact with the environment. The constraint surface is assumed to be a plane and its respective dynamics is modelled by a mass-dashpot-spring scheme. Time results obtained by simulations are very encouraging for future research and developments, because the system's behaviour is very efficient.