On the decoupling of position and force controllers in constrained robotic tasks

DOI10.1002/(SICI)1097-4563(199806)15:6%3C323::AID-ROB2%3E3.0.CO;2-PMaRDI QIDQ4269712zbMATH OpenOpenAlexFDO

Authors Z. Doulgeri, Nikolaos Fahantidis, Avraam A. Konstantinidis

Publication date 3 September 2001

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199806)15:6%3C323::aid-rob2%3E3.0.co;2-p

zbMATH Keywords

constraining surfacecontrol discontinuitiesforce controlhybrid space operational schememotion with contactmotion with non-contactplanar three-degree-of-freedom manipulatorposition controlsubcontroller decouplingsubcontroller output subspace

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Robust hybrid control of constrained robot manipulators via decomposed equations
• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
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Cited in

(7)

• Robust hybrid control of constrained robot manipulators via decomposed equations
• Position and force control of two constrained robotic manipulators
• Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller
• A Heuristic Study of Relegation of Control in Constrained Robotic Systems
• Review and unification of reduced‐order force control methods
• A geometric procedure for robust decoupling control of contact forces in robotic manipulation.
• Control of constraint forces and trajectories in a rich sensory and actuation environment

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