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- W2482952587 abstract "Skilled manipulation is required when a robot is in contact with the environment. The interaction robot-environment is intentional in industrial applications such as grinding, polishing, cutting, excavating and non-industrial such as domotics [1] and [2]. Implementation of all these tasks requires motion and force control due to the non-contact to contact transitions. The motion and force control in robot manipulators is thoroughly discussed in [3] and [4] in the Euler-Lagrange framework. It is the aim of this paper to propose a dynamic extension in the form of a standard mechanical system and based in the port-Hamiltonian (PH) formulation [5]." @default.
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- W2482952587 date "2012-03-27" @default.
- W2482952587 modified "2023-09-23" @default.
- W2482952587 title "Force feedback of a manipulator system in the port-Hamiltonian framework" @default.
- W2482952587 hasPublicationYear "2012" @default.
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