Implicit force control for industrial robots in contact with stiff surfaces

DOI10.1016/S0005-1098(97)00113-1MaRDI QIDQ1129717zbMATH OpenFDO

Authors Paolo Rocco, G. Ferretti, Gianantonio Magnani

Publication date 20 August 1998

Published in Automatica (Search for Journal in Brave)

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)

Recommendations

• On the force control problem for flexible joint manipulators
• scientific article; zbMATH DE number 1429394
• Robust force control for robotic manipulators

Cites work

• 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
• Stability analysis of position and force control for robot arms

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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