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Simultaneous velocity, impact and force control

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Simultaneous velocity, impact and force control

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dc.contributor.author Zotovic Stanisic, Ranko es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.date.accessioned 2021-05-25T03:32:46Z
dc.date.available 2021-05-25T03:32:46Z
dc.date.issued 2009-12 es_ES
dc.identifier.issn 0263-5747 es_ES
dc.identifier.uri http://hdl.handle.net/10251/166751
dc.description.abstract [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 switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations. es_ES
dc.description.sponsorship 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 the European project MASMICRO (Project number 500095-2), by the projects FEDER-CICYT with reference, DPI2005-08732C02-02 and DP12006-15320-C03-01, of the Ministry of Education and Science as well as by the research Project of the Generalitat Valenciana, GVPRE/2008 20080916. es_ES
dc.language Inglés es_ES
dc.publisher Cambridge University Press es_ES
dc.relation.ispartof Robotica es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Robot es_ES
dc.subject Force control es_ES
dc.subject Impact Control es_ES
dc.subject Switching es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Simultaneous velocity, impact and force control es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1017/S0263574709005451 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//GVPRE%2F2008%2F916/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP6/500095/EU/INTEGRATION OF MANUFACTURING SYSTEMS FOR MASS-MANUFACTURE OF MINIATURE%2FMICRO-PRODUCTS/MASMICRO/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MEC//DPI2005-08732-C02-02/ES/IDENTIFICACION DE PARAMETROS FISICOS EN SISTEMAS MECANICOS COMPLEJOS. APLICACION AL CONTROL AVANZADO/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MEC//DPI2006-15320-C03-01/ES/INVESTIGACION EN TECNOLOGIAS DE DESFABRICACION PARA EL DESENSAMBLADO ECOLOGICO Y AUTOMATICO DE AUTOMOVILES./ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Zotovic Stanisic, R.; Valera Fernández, Á. (2009). Simultaneous velocity, impact and force control. Robotica. 27(7):1039-1048. https://doi.org/10.1017/S0263574709005451 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1017/S0263574709005451 es_ES
dc.description.upvformatpinicio 1039 es_ES
dc.description.upvformatpfin 1048 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 27 es_ES
dc.description.issue 7 es_ES
dc.relation.pasarela S\37101 es_ES
dc.contributor.funder European Commission es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder European Regional Development Fund es_ES
dc.contributor.funder Ministerio de Educación y Ciencia es_ES
dc.contributor.funder Universitat Politècnica de València es_ES
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