Constraint Formulation for Invariant Hybrid Position/Force Control of Robots

DOI10.1115/1.2802317zbMATH Open0863.93059OpenAlexW2023544527WikidataQ125832020 ScholiaQ125832020MaRDI QIDQ5285330FDOQ5285330

Authors: Hoda A. ElMaraghy, Krzysztof P. Jankowski 

Publication date: 4 February 1997

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2802317

zbMATH Keywords

constraintsinvariantcoordinate transformationrobotshybrid position/force controltask space decomposition

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Transformations (93B17)

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