Abstract
An analysis of industrial robot control is given, for the case of compliance tasks. First, rigid-link robotic models are considered and the impedance control and hybrid position-force control methods are analyzed. Next, force control methods are generalized in the case of flexible-link robots performing compliance tasks.
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© 2011 Springer-Verlag Berlin Heidelberg
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Rigatos, G.G. (2011). Industrial Robots in Compliance Tasks. In: Modelling and Control for Intelligent Industrial Systems. Intelligent Systems Reference Library, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17875-7_2
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DOI: https://doi.org/10.1007/978-3-642-17875-7_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17874-0
Online ISBN: 978-3-642-17875-7
eBook Packages: EngineeringEngineering (R0)