Position and force control by reaction compensation

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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

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