IEEE - Institute of Electrical and Electronics Engineers, Inc. - An analysis of force control based on momentum

AMC '08. 10th International Workshop on Advanced Motion Control

Author(s): S. Sakaino ; K. Ohnishi
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2008
Conference Location: Trento, Italy
Conference Date: 26 March 2008
Page(s): 354 - 359
ISBN (CD): 978-1-4244-1703-2
ISBN (Paper): 978-1-4244-1702-5
DOI: 10.1109/AMC.2008.4516092
Regular:

A stability analysis of force control based on momentum is presented in this paper. The inertia! force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled... View More

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