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Adjusting the parameters of the mechanical impedance for velocity, impact and force control

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Adjusting the parameters of the mechanical impedance for velocity, impact and force control

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Zotovic Stanisic, R.; Valera Fernández, Á. (2012). Adjusting the parameters of the mechanical impedance for velocity, impact and force control. Robotica. 30(4):10-25. doi:10.1017/S0263574711000725

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/46107

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Title: Adjusting the parameters of the mechanical impedance for velocity, impact and force control
Author:
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. ...[+]
Subjects: Force control , Impact , Impedance control , Robot control , Switching , Active impedance , Force tracking , Free motion , Impact control , Mechanical impedances , Optimal switching , Robot controls , Computer applications , Robotics
Copyrigths: Reserva de todos los derechos
Source:
Robotica. (issn: 0263-5747 )
DOI: 10.1017/S0263574711000725
Publisher:
Cambridge University Press (CUP)
Publisher version: http://dx.doi.org/10.1017/S0263574711000725
Thanks:
The authors want to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this work under the projects DPI2009-13830-C02-01 and ...[+]
Type: Artículo

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