A Joint Space Formulation for Compliant Motion Control of Robot Manipulators

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dc.contributor.authorShen, Yueshi
dc.contributor.authorHueper, Knut
dc.coverage.spatialNiagara Falls Canada
dc.date.accessioned2015-12-13T22:49:28Z
dc.date.available2015-12-13T22:49:28Z
dc.date.createdJuly 29 2005
dc.date.issued2005
dc.date.updated2015-12-11T10:35:33Z
dc.description.abstractThis paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.
dc.identifier.isbn078039044X
dc.identifier.urihttp://hdl.handle.net/1885/80557
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Mechatronics and Automation 2005
dc.sourceProceedings of the IEEE International Conference on Mechatronics and Automation
dc.source.urihttp://www.icma2005.org/
dc.subjectKeywords: Closed loop control systems; Computer simulation; Force control; Manipulators; Robots; Robustness (control systems); Closed-loop dynamics; Compliant motion control; Joint space; Projectors; Robot manipulators; Motion control Compliant motion control; Hybrid motion/force control; Joint space; Projector; Robot manipulator
dc.titleA Joint Space Formulation for Compliant Motion Control of Robot Manipulators
dc.typeConference paper
local.bibliographicCitation.lastpage369
local.bibliographicCitation.startpage362
local.contributor.affiliationShen, Yueshi, College of Engineering and Computer Science, ANU
local.contributor.affiliationHueper, Knut, College of Engineering and Computer Science, ANU
local.contributor.authoremailrepository.admin@anu.edu.au
local.contributor.authoruidShen, Yueshi, u3318250
local.contributor.authoruidHueper, Knut, u4593430
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationMigratedxPub8818
local.identifier.scopusID2-s2.0-27744604012
local.identifier.uidSubmittedByMigrated
local.type.statusPublished Version

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