A Joint Space Formulation for Compliant Motion Control of Robot Manipulators
dc.contributor.author | Shen, Yueshi | |
dc.contributor.author | Hueper, Knut | |
dc.coverage.spatial | Niagara Falls Canada | |
dc.date.accessioned | 2015-12-13T22:49:28Z | |
dc.date.available | 2015-12-13T22:49:28Z | |
dc.date.created | July 29 2005 | |
dc.date.issued | 2005 | |
dc.date.updated | 2015-12-11T10:35:33Z | |
dc.description.abstract | This 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.isbn | 078039044X | |
dc.identifier.uri | http://hdl.handle.net/1885/80557 | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.relation.ispartofseries | IEEE International Conference on Mechatronics and Automation 2005 | |
dc.source | Proceedings of the IEEE International Conference on Mechatronics and Automation | |
dc.source.uri | http://www.icma2005.org/ | |
dc.subject | Keywords: 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.title | A Joint Space Formulation for Compliant Motion Control of Robot Manipulators | |
dc.type | Conference paper | |
local.bibliographicCitation.lastpage | 369 | |
local.bibliographicCitation.startpage | 362 | |
local.contributor.affiliation | Shen, Yueshi, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Hueper, Knut, College of Engineering and Computer Science, ANU | |
local.contributor.authoremail | repository.admin@anu.edu.au | |
local.contributor.authoruid | Shen, Yueshi, u3318250 | |
local.contributor.authoruid | Hueper, Knut, u4593430 | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.absfor | 091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics) | |
local.identifier.ariespublication | MigratedxPub8818 | |
local.identifier.scopusID | 2-s2.0-27744604012 | |
local.identifier.uidSubmittedBy | Migrated | |
local.type.status | Published Version |