A passivity-based approach to force regulation and motion control of robot manipulators

DOI10.1016/0005-1098(95)00173-5MaRDI QIDQ1915015zbMATH OpenOpenAlexFDO

Authors Bruno Siciliano, Luigi Villani

Publication date 20 November 1996

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(95)00173-5

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Popov-type stability of feedback systems (93D10)

Cites work

• Adaptive hybrid force-position control for redundant manipulators
• Adaptive motion control of rigid robots: A tutorial
• An adaptive force/position regulator for robot manipulators
• Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto
• Feedback stabilization and tracking of constrained robots
• Force/motion control of constrained robots using sliding mode
• Force/position regulation of compliant robot manipulators
• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Stability analysis of position and force control for robot arms

Cited in

(3)

• Robust dissipative control for linear systems with dissipative uncertainty and nonlinear perturbation
• An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
• Bilateral parallel force/position teleoperation control

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