Generalized acceleration control of robot manipulators with nonlinear active damping

@article{Qian1993GeneralizedAC,
  title={Generalized acceleration control of robot manipulators with nonlinear active damping},
  author={H. P. Qian and Joris De Schutter},
  journal={[1993] Proceedings IEEE International Conference on Robotics and Automation},
  year={1993},
  pages={480-486 vol.2}
}
A hybrid position/force control algorithm for generic robot manipulators (RM), namely generalized acceleration control with nonlinear active damping, is introduced. This algorithm gives fast and stable response without demanding high sampling rate, even if the contact stiffness between the robot end-effector and the environment is very high. It also allows relatively fast impact of the end-effector with the environment without yielding extra force overshoot. The algorithm maintains stable and… CONTINUE READING

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