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A Joint Space Formulation for Compliant Motion Control of Robot Manipulators

Shen, Yueshi; Hueper, Knut


This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
Source: Proceedings of the IEEE International Conference on Mechatronics and Automation


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