On the asymptotic stability of the hybrid position/force control scheme for robot manipulators.
Tetsuro YabutaAshish J. ChonaGerardo BeniPublished in: ICRA (1988)
Keyphrases
- control scheme
- position control
- robot manipulators
- asymptotic stability
- closed loop
- force control
- control system
- control law
- end effector
- robotic manipulator
- inverse kinematics
- pid controller
- fuzzy controller
- controller design
- sliding mode control
- sufficient conditions
- dynamic model
- control strategy
- sliding mode
- fuzzy control
- neural network