IEEE - Institute of Electrical and Electronics Engineers, Inc. - Force/moment constraints for robot compliant motions in the presence of uncertainties

Author(s): Xiao, J.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Arlington, VA, USA
Conference Date: 13 August 1991
Page(s): 122 - 127
ISBN (Paper): 0-7803-0106-4
ISSN (Paper): 2158-9860
DOI: 10.1109/ISIC.1991.187344
Regular:

It is shown that by properly choosing the commanded force/moment based on certain force/moment constraints, a compliant translation/rotation can be ensured in the presence of uncertainties... View More

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