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Simultaneous velocity, impact and force control

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Simultaneous velocity, impact and force control

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Zotovic Stanisic, R.; Valera Fernández, Á. (2009). Simultaneous velocity, impact and force control. Robotica. 27(7):1039-1048. https://doi.org/10.1017/S0263574709005451

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Metadatos del ítem

Título: Simultaneous velocity, impact and force control
Autor: Zotovic Stanisic, Ranko Valera Fernández, Ángel
Entidad UPV: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Fecha difusión:
Resumen:
[EN] In this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are ...[+]
Palabras clave: Robot , Force control , Impact Control , Switching
Derechos de uso: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Fuente:
Robotica. (issn: 0263-5747 )
DOI: 10.1017/S0263574709005451
Editorial:
Cambridge University Press
Versión del editor: https://doi.org/10.1017/S0263574709005451
Código del Proyecto:
info:eu-repo/grantAgreement/GVA//GVPRE%2F2008%2F916/
info:eu-repo/grantAgreement/EC/FP6/500095/EU/INTEGRATION OF MANUFACTURING SYSTEMS FOR MASS-MANUFACTURE OF MINIATURE%2FMICRO-PRODUCTS/MASMICRO/
info:eu-repo/grantAgreement/MEC//DPI2005-08732-C02-02/ES/IDENTIFICACION DE PARAMETROS FISICOS EN SISTEMAS MECANICOS COMPLEJOS. APLICACION AL CONTROL AVANZADO/
info:eu-repo/grantAgreement/MEC//DPI2006-15320-C03-01/ES/INVESTIGACION EN TECNOLOGIAS DE DESFABRICACION PARA EL DESENSAMBLADO ECOLOGICO Y AUTOMATICO DE AUTOMOVILES./
Agradecimientos:
We would like to thank the R&D&I Linguistic Assistance Office, Universidad Politecnica de Valencia (Spain), for Granting financial support for the linguistic revision of this paper. This work has been partially funded by ...[+]
Tipo: Artículo

References

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Brach, R. M., & Goldsmith, W. (1991). Mechanical Impact Dynamics: Rigid Body Collisions. Journal of Engineering for Industry, 113(2), 248-249. doi:10.1115/1.2899694

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