Robust force control for robotic manipulators

DOI10.1080/00207179208934332MaRDI QIDQ4020180zbMATH OpenOpenAlexFDO

Authors Han-Pang Huang, Marlon Lin

Publication date 16 January 1993

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179208934332

zbMATH Keywords

robotic force controller

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A new controller design for manipulators using the theory of variable structure systems
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Displacement Control of Flexible Structures Using Electrohydraulic Servo-Actuators
• Feedback stabilization and tracking of constrained robots
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Variable structure systems with sliding modes

Cited in

(18)

• Implicit force control for industrial robots in contact with stiff surfaces
• Robust control of robots by the computed torque law
• Tracking and force control for a class of robotic manipulators
• Motion and force control of multiple robotic manipulators
• Dynamics of digital force control applied in rehabilitation robotics
• Combined adaptive and variable structure control for constrained robots
• Active force-torque robot control without using wrist force-torque sensors
• Robust control of robot arms including motor dynamics
• Experiments on the stability of digital force control of robots
• A subspace to describe grasping internal forces in robotic manipulation systems
• scientific article; zbMATH DE number 4093315 (Why is no real title available?)
• scientific article; zbMATH DE number 33507 (Why is no real title available?)
• scientific article; zbMATH DE number 681536 (Why is no real title available?)
• A position/force control for a robot finger with soft tip and uncertain kinematics
• A robust H ^∞ model reference tracking design for non-holonomic mechanical control systems
• scientific article; zbMATH DE number 1429394 (Why is no real title available?)
• A geometric procedure for robust decoupling control of contact forces in robotic manipulation.
• On the robustness of force estimation methods for robot manipulators: an experimental study

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