Robust force control strategy based on the virtual environment concept

Authors: Fraisse, P.1; Dauchez, P.2; Pierrot, F.1

Source: Advanced Robotics, Volume 21, Numbers 3-4, 2007 , pp. 485-498(14)

Publisher: VSP, an imprint of Brill

Key:
Free Content - Free Content
New Content - New Content
Subscribed Content - Subscribed Content
Free Trial Content - Free Trial Content

Abstract:

The main goal of this paper is to present a force control strategy based on the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it and, finally, we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method.

Keywords: FORCE CONTROL; ROBUST CONTROL; EXPERIMENTATION

Document Type: Research article

DOI: 10.1163/156855307780132018

Affiliations: 1: LIRMM, Université Montpellier II, 34392 Montpellier Cedex 5, France 2: LESIA, Institut National des Sciences Appliquées, 31077 Toulouse Cedex 4, France

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$25.00 plus tax      Refund Policy

 

OR

Back to top

Key:
Free Content - Free Content
New Content - New Content
Subscribed Content - Subscribed Content
Free Trial Content - Free Trial Content
Share this item with others: These icons link to social bookmarking sites where readers can share and discover new web pages.
Page Help Click here for Page Help
Shopping cart
Tools
Sign in






Need to register?
Sign up here
Text size: A | A | A | A