On the elasticity in the Dynamic decoupling of Hybrid force/velocity control in the contour tracking task (Contributo in atti di convegno)

Type
Label
  • On the elasticity in the Dynamic decoupling of Hybrid force/velocity control in the contour tracking task (Contributo in atti di convegno) (literal)
Anno
  • 2008-01-01T00:00:00+01:00 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
  • 10.1109/IROS.2008.4650883 (literal)
Alternative label
  • Pedrocchi N., Visioli A., Ziliani C., Legnani G. (2008)
    On the elasticity in the Dynamic decoupling of Hybrid force/velocity control in the contour tracking task
    in IEEE/RSJ - "Int.l Conference on Intelligent Robots and Systems" - IROS 2008, Nice (F), 22-26 Settembre
    (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
  • Pedrocchi N., Visioli A., Ziliani C., Legnani G. (literal)
Pagina inizio
  • 955 (literal)
Pagina fine
  • 960 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url
  • http://www.scopus.com/inward/record.url?eid=2-s2.0-69549088264&partnerID=40&md5=1dbde9879ced17e37e0fd95e4d6998f6 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#titoloVolume
  • Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#note
  • Nice (F), September, 22-26 2008 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#pagineTotali
  • 6 (literal)
Note
  • Google Scholar (literal)
  • Scopus (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
  • Università degli Studi di Brescia (Visioli A., Legnani G.) (literal)
Titolo
  • On the elasticity in the Dynamic decoupling of Hybrid force/velocity control in the contour tracking task (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn
  • 978-1-4244-2058-2 (literal)
Abstract
  • The paper investigates the decoupling of an explicit hybrid force/velocity control of robot manipulators employed in the contour tracking task of objects of unknown shape taking into account the elastic model of the contact and of the robot. The proposed controller allows the achievement of the decoupling of the normal force and tangential velocity control loops and can be expressed as a multi-input multi-output (MIMO) time-varying proportional-integral-derivative (PID) controller. Experimental results demonstrate the effectiveness of the method (literal)
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