Elsevier

Systems & Control Letters

Volume 29, Issue 5, February 1997, Pages 295-300
Systems & Control Letters

An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment

https://doi.org/10.1016/S0167-6911(97)90017-7Get rights and content

Abstract

In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed which only requires measurements of force and position. Semiglobal stability of the closed-loop system around the equilibrium is shown via a Lyapunov argument.

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