Constrained Motion Control of Manipulation Robots – A Contribution

Stokić, Dragan

doi:10.1017/s0263574700010195

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Application Of Jfsf In Constrained Motion Control1

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1993

2014

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Cited by 15 publications

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“…These problems are also discussed in ref. 39. Here, we shall consider only those problems which reflect the application of JFSF in hybrid control schemes.…”

Section: Application Of Jfsf In Constrained Motion Controlmentioning

confidence: 99%

Historical perspectives and state of the art in joint force sensory feedback control of manipulation robots

Stockić

Vukobratović

1993

Robotica

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SUMMARYThe application of the joint force sensory feedback in both the gross and fine motion control of manipulation robots is considered in the paper. One of the objectives of the paper is to give a historical overview how the idea of the joint force sensory feedback has appeared and developed in the past two decades. The control schemes, which include joint torque sensory feedback, are surveyed in the paper. The main advantages of this approach are discussed: the joint torque feedback offers an elegant way to compensate for the effects of the robot dynamics without real time computation of the robot dynamics, the control schemes are robust in respect of parameter variations. Various problems regarding design and implementation of joint torque sensor are also considered. Special emphasis is given to the application of this approach in hybrid position/force control schemes.

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“…These problems are also discussed in ref. 39. Here, we shall consider only those problems which reflect the application of JFSF in hybrid control schemes.…”

Section: Application Of Jfsf In Constrained Motion Controlmentioning

confidence: 99%