IEEE - Institute of Electrical and Electronics Engineers, Inc. - Operational space robot control for motion performance and safe interaction under Unintentional Contacts

2016 European Control Conference (ECC)

Author(s): Yiannis Karayiannidis ; Leonidas Droukas ; Zoe Doulgeri
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2016
Conference Location: Aalborg, Denmark
Conference Date: 29 June 2016
Page(s): 407 - 412
ISBN (Electronic): 978-1-5090-2591-6
ISBN (USB): 978-1-5090-2590-9
DOI: 10.1109/ECC.2016.7810319
Regular:

A control law achieving motion performance of quality and compliant reaction to unintended contacts for robot manipulators is proposed in this work. It achieves prescribed performance evolution of... View More

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