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- W1885102516 abstract "An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration. >" @default.
- W1885102516 created "2016-06-24" @default.
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- W1885102516 date "2003-01-07" @default.
- W1885102516 modified "2023-09-22" @default.
- W1885102516 title "An approach to force and position control of robot manipulators" @default.
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- W1885102516 doi "https://doi.org/10.1109/robot.1989.99972" @default.
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