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Position and Force Control for a robot in a free or constrained space

Abstract : This chapter presents standard control techniques in the joint space and task space for free motion and constrained motion (compliant force-position control) for rigid manipulator.
Keywords : Robot control postion force
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00203666
Contributor : Philippe Fraisse <>
Submitted on : Thursday, January 10, 2008 - 6:03:54 PM
Last modification on : Thursday, February 28, 2019 - 2:38:22 PM

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  • HAL Id : lirmm-00203666, version 1

Citation

Pierre Dauchez, Philippe Fraisse. Position and Force Control for a robot in a free or constrained space. E. Dombre, W. Khlail. Robot Manipulators, 1, ISTE, pp.241-275, 2007, Control Systems, Robotics and Manufacturing Series, 9781905209101. ⟨lirmm-00203666⟩

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