TY - GEN
T1 - Position and force control by reaction compensation
AU - Tanner, H. G.
AU - Kyriakopoulos, K. J.
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0034865718&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0034865718&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2001.933229
DO - 10.1109/ROBOT.2001.933229
M3 - Conference contribution
AN - SCOPUS:0034865718
SN - 0780365763
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3926
EP - 3931
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2001 IEEE International Conference on Robotics and Automation (ICRA)
Y2 - 21 May 2001 through 26 May 2001
ER -