Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

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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...

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Bibliografische gegevens
Hoofdauteurs: Giovanni Legnani, Antonio Visioli, Giacomo Ziliani
Formaat: Artikel
Taal:English
Gepubliceerd in: SAGE Publishing 2008-11-01
Reeks:International Journal of Advanced Robotic Systems
Onderwerpen:
controur tracking
hybrid force/velocity control
gain scheduling
industrial robots.
Online toegang:http://www.intechopen.com/articles/show/title/gain_scheduling_for_hybrid_force_velocity_control_in_contour_tracking_task

Internet

http://www.intechopen.com/articles/show/title/gain_scheduling_for_hybrid_force_velocity_control_in_contour_tracking_task

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