IEEE - Institute of Electrical and Electronics Engineers, Inc. - MPC-based admittance control for robotic manipulators

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Arne Wahrburg ; Kim Listmann
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 7,548 - 7,554
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799435
Regular:

Robotic applications involving environmental interaction require control structures that go beyond traditional position control. One approach to handle interaction forces is admittance control.... View More

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