A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Modified Position-Force Control for a Manipulator Geometrically Constrained by Round Obstacles
2019
Journal of Automation, Mobile Robotics & Intelligent Systems
Preserved Fulltext
�his paper addresses the problem of posi�on-force control for robot manipulators under geometric endpoint constraints de�ned as round obstacles. �onsidera�ons are based on h�brid posi�on-force control and use modi�ed Arimoto algorithm with the principle of "orthogonalisa-�on". �o achieve so-called �oint space orthogonalisa�on� where mo�on signals are orthogonal to force vectors and the direc�on selec�on is performed in the �oint space� pro�ec�on matri� is u�li�ed. �he convergence of trac�ing
doi:10.14313/jamris/2-2019/19
fatcat:7sb72xgmancc5dtx72nnhne5xu