A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocit...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2018-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/9324623 |