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Robust Hybrid Position-Force Control for Robotic Surface Polishing

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Robust Hybrid Position-Force Control for Robotic Surface Polishing

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Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Robust Hybrid Position-Force Control for Robotic Surface Polishing. Journal of Manufacturing Science and Engineering. 141(1):1-14. https://doi.org/10.1115/1.4041836

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/117576

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Title: Robust Hybrid Position-Force Control for Robotic Surface Polishing
Author: Solanes Galbis, Juan Ernesto Gracia Calandin, Luis Ignacio Muñoz-Benavent, Pau Valls Miro, Jaime Perez-Vidal, Carlos Tornero Montserrat, Josep
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and ...[+]
Copyrigths: Reserva de todos los derechos
Source:
Journal of Manufacturing Science and Engineering. (issn: 1087-1357 )
DOI: 10.1115/1.4041836
Publisher:
ASME International
Publisher version: http://doi.org/10.1115/1.4041836
Project ID:
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/
GV/APOSTD/2016/044
Thanks:
Spanish Government, Agencia Estatal de Investigacion (DPI2017-87656-C2-1-R). Generalitat Valenciana, Conselleria d'Educacion, Investigacion, Cultura i Esport (VALi+d APOSTD/2016/044).
Type: Artículo

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