IEEE - Institute of Electrical and Electronics Engineers, Inc. - Stable force control of one degree-of-freedom manipulator in contact tasks

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

Author(s): Shoji, Y. ; Inaba, M. ; Fukuda, T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Yokohama, Japan, Japan
Conference Date: 26 July 1993
Volume: 3
ISBN (Paper): 0-7803-0823-9
DOI: 10.1109/IROS.1993.583840
Regular:

Force control in contact tasks is discussed, and the system stability is proved theoretically using the Lyapunov direct method. A one-degree-of-freedom manipulator representing simple... View More

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