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Constrained Motion Control of Manipulation Robots – A Contribution

Published online by Cambridge University Press:  09 March 2009

Dragan M. Stokić
Affiliation:
Institute “M. Pupin”, P.O.B. 15, Volgina 15, Beograd (Yugoslavia)

Summary

The problems concerning the control of constrained motion of manipulation robots are discussed in the paper. Two general problems of hybrid position/force control are considered: the problem of interaction between position and force control and the problem of contact between a robot and an environment. Some promising solutions to these problems are identified. It is shown that adaptive control is necessary to solve these problems. A new control scheme is proposed and results of computer simulations are presented

Type
Article
Copyright
Copyright © Cambridge University Press 1991

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