5. Position and Force Control of a Robot in a Free or Constrained Space

  1. Etienne Dombre and
  2. Wisama Khalil
  1. Pierre Dauchez and
  2. Philippe Fraisse

Published Online: 5 JAN 2010

DOI: 10.1002/9780470612286.ch5

Modeling, Performance Analysis and Control of Robot Manipulators

Modeling, Performance Analysis and Control of Robot Manipulators

How to Cite

Dauchez, P. and Fraisse, P. (2007) Position and Force Control of a Robot in a Free or Constrained Space, in Modeling, Performance Analysis and Control of Robot Manipulators (eds E. Dombre and W. Khalil), ISTE, London, UK. doi: 10.1002/9780470612286.ch5

Publication History

  1. Published Online: 5 JAN 2010
  2. Published Print: 1 JAN 2007

ISBN Information

Print ISBN: 9781905209101

Online ISBN: 9780470612286

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Keywords:

  • decentralized control;
  • robust control;
  • impedance control;
  • parallel structure;
  • adaptive control

Summary

This chapter contains sections titled:

  • Introduction

  • Free space control

  • Control in a constrained space

  • Conclusion

  • Bibliography