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• W2029044593 abstract "This paper deals with the problem of controlling the interaction of a multilink flexible arm in contact with a compliant surface. For a given tip position and surface stiffness, the joint and deflection variables are computed using a closed-loop inverse kinematics algorithm. This is based on a suitable Jacobian matrix which includes terms accounting for the static deflections due to gravity and contact force. The computed variables are used as the set-points for a simple joint PD control, thus achieving regulation of the tip position and contact force via a joint-space controller. The scheme is tested in a simulation case study for a planar two-link manipulator." @default.
• W2029044593 created "2016-06-24" @default.
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• W2029044593 date "2001-02-01" @default.
• W2029044593 modified "2023-10-15" @default.
• W2029044593 title "An inverse kinematics algorithm for interaction control of a flexible arm with a compliant surface" @default.
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• W2029044593 doi "https://doi.org/10.1016/s0967-0661(00)00097-6" @default.
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