Position and force control by reaction compensation

Tanner, HG; Kyriakopoulos, KJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:41:57Z
dc.date.available	2014-03-01T02:41:57Z
dc.date.issued	2001	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30702
dc.subject	Computer Simulation	en
dc.subject	Force Control	en
dc.subject	Inverse Dynamics	en
dc.subject.other	Reaction compensations	en
dc.subject.other	Computer simulation	en
dc.subject.other	Damping	en
dc.subject.other	Manipulators	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Position control	en
dc.subject.other	Force control	en
dc.title	Position and force control by reaction compensation	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2001.933229	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2001.933229	en
heal.publicationDate	2001	en
heal.abstract	The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2001.933229	en
dc.identifier.volume	4	en
dc.identifier.spage	3926	en
dc.identifier.epage	3931	en