Control of robot manipulators with constrained motion
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1657-1658 vol.2
- https://doi.org/10.1109/cdc.1989.70429
Abstract
A hybrid control scheme for robot manipulators under constrained motion is proposed. The control law provides simultaneous position and force control for the manipulator in orthogonal directions. It is shown how the scheme will work for manipulators constrained to follow some rigid, frictionless constraint surface.Keywords
This publication has 4 references indexed in Scilit:
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