Implicit force control for industrial robots in contact with stiff surfaces

DOI10.1016/S0005-1098(97)00113-1zbMATH Open0921.70019MaRDI QIDQ1129717FDOQ1129717

Authors: Paolo Rocco, G. Ferretti, Gianantonio Magnani 

Publication date: 20 August 1998

Published in: Automatica (Search for Journal in Brave)

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zbMATH Keywords

stabilityclosed-loop systemPD controllerreaction forcesindustrial robot COMAU SMART 3Slow-frequency modetorque commands

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Cites Work

• Stability analysis of position and force control for robot arms
• Joint Stiffness Estimation Based on Force Sensor Measurements in Industrial Manipulators
• On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces

Cited In (3)

• On the force control problem for flexible joint manipulators
• Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment
• Control of Force in Surgical Robots with Random Time Delays Using Model Predictive Control

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