IEEE - Institute of Electrical and Electronics Engineers, Inc. - A flexible link manipulator as a force measuring and controlling unit

Author(s): Richter, K. ; Pfeiffer, F.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131777
Regular:

A position and force control concept for a manipulator with elasticity in joints and links is developed. The measurement of the link deformations is used for control of vibrations as well as for... View More

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