Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions

2008 ◽  
Author(s):  
Christian Ott ◽  
Andreas Kugi ◽  
Yoshihiko Nakamura
Keyword(s):  
Lyapunov Functions ◽  
Redundant Manipulators ◽  
Compliance Control

scholarly journals Compliance Control for Robust Assembly with Redundant Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 8538-8545
Author(s):  
Kim D. Listmann ◽  
Florian Hans ◽  
Arne Wahrburg
Keyword(s):  
Redundant Manipulators ◽  
Compliance Control

Hierarchical tracking task control in redundant manipulators with compliance control in the null-space

Mechatronics ◽  
2018 ◽  
Vol 55 ◽  
pp. 171-179 ◽  
Author(s):  
Abbas Karami ◽  
Hamid Sadeghian ◽  
Mehid Keshmiri ◽  
Giuseppe Oriolo
Keyword(s):  
Null Space ◽  
Tracking Task ◽  
Redundant Manipulators ◽  
Compliance Control ◽  
Task Control

scholarly journals Multi-Point Compliance Control for Redundant Manipulators

1990 ◽  
Vol 26 (12) ◽  
pp. 1406-1413 ◽  
Author(s):  
Toshio TSUJI ◽  
Toshiaki TAKAHASHI ◽  
Koji ITO
Keyword(s):  
Redundant Manipulators ◽  
Compliance Control

Multi-Point Compliance Control for Redundant Manipulators

1991 ◽  
pp. 427-434 ◽  
Author(s):  
Toshio Tsuji ◽  
Toshiaki Takahashi ◽  
Koji Ito
Keyword(s):  
Redundant Manipulators ◽  
Compliance Control

Prioritized multi-task compliance control of redundant manipulators

Automatica ◽  
2015 ◽  
Vol 53 ◽  
pp. 416-423 ◽  
Author(s):  
Christian Ott ◽  
Alexander Dietrich ◽  
Alin Albu-Schäffer
Keyword(s):  
Redundant Manipulators ◽  
Compliance Control

A method of compliance control of redundant manipulators

KSME Journal ◽  
1996 ◽  
Vol 10 (2) ◽  
Author(s):  
H. R. Choi ◽  
W. K. Chung ◽  
Y. Youm
Keyword(s):  
Redundant Manipulators ◽  
Compliance Control
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