Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task
In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained moti...
| Main Authors: | , , |
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| Format: | Article |
| Jezik: | English |
| Izdano: |
SAGE Publishing
2006-12-01
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| Serija: | International Journal of Advanced Robotic Systems |
| Online dostop: | https://doi.org/10.5772/5717 |