Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/74973
Title: Contact force and position control in constrained robots including effects of joint flexibility and actuator dynamics
Authors: Krishnan, Hariharan 
Issue Date: 1994
Citation: Krishnan, Hariharan (1994). Contact force and position control in constrained robots including effects of joint flexibility and actuator dynamics. Proceedings of the IEEE Conference on Decision and Control 2 : 1809-1810. ScholarBank@NUS Repository.
Abstract: We consider mathematical representations of constrained robot systems in which the effects of joint flexibility and actuator dynamics are significant. A systematic procedure is developed for designing a feedback control law which ensures that the position variables track the desired position trajectories exponentially, and the force variables track the desired force trajectories exponentially despite the presence of joint flexibility and actuator dynamics.
Source Title: Proceedings of the IEEE Conference on Decision and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/74973
ISSN: 01912216
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

32
checked on Oct 13, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.