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dc.contributor.authorDede, Mehmet İsmet Can
dc.contributor.authorÖzgören, M. K.
dc.date.accessioned2018-11-30T06:43:29Z
dc.date.available2018-11-30T06:43:29Z
dc.date.issued2012
dc.identifier.citationDede, M. İ. C., and Özgören, M. K. (2012). On the formulation of parallel position/force control schemes for industrial manipulators. In A. Graeser, and D. Ristic-Durrant (Eds.). Paper presented at the Methods and applications in automation proceedings of the 32nd and 33rd Colloquium of Automation, Leer, Germany (pp. 79-90). Aachen: Shaker Verlag.en_US
dc.identifier.isbn978-3-8440-1322-1
dc.identifier.urihttp://hdl.handle.net/11147/7022
dc.description.abstractIn this paper, three commonly-used position/force control schemes namely Impedance, Admittance and Hybrid Position/Force control are investigated for use in industrial manipulators. In order to eliminate the instability problem that may occur in the customary versions of these schemes for large position errors, a modification is proposed, which is based on determining the joint-space position errors using inverse kinematic solutions rather than using the inverse Jacobian matrix. The feasibility of this modification relies on the fact that almost all of the industrial manipulators have easily obtainable inverse kinematic solutions. The simulation results showing the performance of the modified control schemes are also presented as applied on a Puma 560 manipulator.en_US
dc.language.isoengen_US
dc.publisherShaker Verlagen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectIndustrial manipulatorsen_US
dc.subjectImpedance controlen_US
dc.subjectAdmittance controlen_US
dc.subjectHybrid conrolen_US
dc.subjectPosition/Force controlen_US
dc.titleOn the formulation of parallel position/force control schemes for industrial manipulatorsen_US
dc.typeconferenceObjecten_US
dc.typesubmittedVersion
dc.contributor.authorIDTR26957en_US
dc.contributor.iztechauthorDede, Mehmet İsmet Can
dc.relation.journalMethods and applications in automation proceedings of the 32nd and 33rd Colloquium of Automationen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.startpage79en_US
dc.identifier.endpage90en_US


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