Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment

DOI10.1016/J.AUTOMATICA.2015.10.029MaRDI QIDQ901204zbMATH OpenOpenAlexFDO

Authors Dennis Heck, Alessandro Saccon, N. van de Wouw, H. Nijmeijer

Publication date 23 December 2015

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2015.10.029

zbMATH Keywords

force trackingmanipulator controlmodel reductionmotion trackingswitched system

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) System structure simplification (93B11) Automated systems (robots, etc.) in control theory (93C85) Input-output approaches in control theory (93D25)

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Cited in

(9)

• Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing
• Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties
• Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy
• Switching contact task control in hydraulic actuators: stability analysis and experimental evaluation
• An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method
• A proportional-derivative-double derivative controller for robot manipulators
• Stabilisation for teleoperation systems with sampled-data information feedback
• Trajectory tracking in linear complementarity systems with and without state jumps: a passivity approach
• Title not available (Why is no real title available?)

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