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Adaptive robust control and admittance control for contact-driven robotic surface conditioning

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Adaptive robust control and admittance control for contact-driven robotic surface conditioning

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Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Esparza Peidro, A.; Valls Miro, J.; Tornero Montserrat, J. (2018). Adaptive robust control and admittance control for contact-driven robotic surface conditioning. Robotics and Computer-Integrated Manufacturing. 54:115-132. https://doi.org/10.1016/j.rcim.2018.05.003

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/145125

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Title: Adaptive robust control and admittance control for contact-driven robotic surface conditioning
Author: Solanes Galbis, Juan Ernesto Gracia Calandin, Luis Ignacio Muñoz-Benavent, Pau Esparza Peidro, Alicia Valls Miro, Jaime 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 contact conditioning tasks such as polishing, profiling, deburring, etc. The robot force control is designed using sliding mode ideas to benefit ...[+]
Subjects: Robot force control , Adaptive switching gain , Sliding mode control
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Robotics and Computer-Integrated Manufacturing. (issn: 0736-5845 )
DOI: 10.1016/j.rcim.2018.05.003
Publisher:
Elsevier
Publisher version: https://doi.org/10.1016/j.rcim.2018.05.003
Project ID:
GV/BEST/2017/029
GENERALITAT VALENCIANA/APOSTD/2016/044
AEI/DPI2017-87656-C2-1-R-AR
Thanks:
This work was supported in part by the Spanish Government under the Project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi+d APOSTD/2016/044 and BEST/2017/029.
Type: Artículo

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