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Work-space robot controllers

Published online by Cambridge University Press:  09 March 2009

C. Vibet
C. Vibet
Affiliation:
Université Paris XII, Laboratoire de Robotique Industrielle, 22 Allée J. Rostand 91011 EVRY Cedex, (France)
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Summary

In regard to work-space controller design, a derivation of the relationships between the operational approach and the decoupling method is introduced. The given generating rules, which are valid for nonredundant robots, permit the design of a Position-Speed-Acceleration controller or hybrid Force-PSA controllers.

Keywords

Robot controllerImpedance controllerWork-spaceForce-position controller

Information

Type
Article
Information
Robotica , Volume 5 , Issue 3 , July 1987 , pp. 247 - 250
Copyright
Copyright © Cambridge University Press 1987

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References

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