Hybrid position/force control of manipulators
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Summary
A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
- Type
- article
- Published
- 1981-06-01
- Cited by
- 3,194
- References
- 0
- OpenAlex
- https://openalex.org/W2016958754
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:121363264
Keywords
Control theory (sociology), Position (finance), Computer science, Trajectory, Controller (irrigation)
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