IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Hybrid Control Strategy for Robust Contact Detection and Force Regulation

2007 American Control Conference

Author(s): R. Carloni ; R.G. Sanfelice ; A.R. Teel ; C. Melchiorri
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2007
Conference Location: New York, NY, USA
Conference Date: 9 July 2007
Page(s): 1,461 - 1,466
ISBN (CD): 1-4244-0989-6
ISBN (Paper): 1-4244-0988-8
ISSN (Paper): 0743-1619
DOI: 10.1109/ACC.2007.4283119
Regular:

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following... View More

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