Position and force control by reaction compensation

H. G. Tanner, K. J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3926-3931
Number of pages6
DOIs
StatePublished - 2001
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Conference

Conference2001 IEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryKorea, Republic of
CitySeoul
Period5/21/015/26/01

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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