%0 Journal Article %1 KAWAJI1993535 %A Kawaji, S. %A Maeda, T. %A Matsunaga, N. %D 1993 %J IFAC Proceedings Volumes %K 1993 elsevier manipulator path-planning robot-arm robotics %N 2, Part 3 %P 535 - 540 %R https://doi.org/10.1016/S1474-6670(17)48785-4 %T Force Control of Robot Arm Using the Virtual Environment Model %U http://www.sciencedirect.com/science/article/pii/S1474667017487854 %V 26 %X A new design method of force control system with consideration of the approach to the environment is proposed. The force in constraint space can be controlled and the robot arm move with constant velocity in free space, so the proposed method does not require the change of controllers in the transition from free space to constraint space. And to reduce the impulsive force at collision, the approaching velocity is controllled by introducing the concept of the virtual environment model.

@article{KAWAJI1993535, abstract = {A new design method of force control system with consideration of the approach to the environment is proposed. The force in constraint space can be controlled and the robot arm move with constant velocity in free space, so the proposed method does not require the change of controllers in the transition from free space to constraint space. And to reduce the impulsive force at collision, the approaching velocity is controllled by introducing the concept of the virtual environment model.}, added-at = {2018-05-08T13:41:41.000+0200}, author = {Kawaji, S. and Maeda, T. and Matsunaga, N.}, biburl = {https://www.bibsonomy.org/bibtex/251f7dbb0d68230021f3437b840a1636e/achakraborty}, description = {Force Control of Robot Arm Using the Virtual Environment Model - ScienceDirect}, doi = {https://doi.org/10.1016/S1474-6670(17)48785-4}, interhash = {8cadeeab877d2bccfb8fc57e894e640c}, intrahash = {51f7dbb0d68230021f3437b840a1636e}, issn = {1474-6670}, journal = {IFAC Proceedings Volumes}, keywords = {1993 elsevier manipulator path-planning robot-arm robotics}, note = {12th Triennal Wold Congress of the International Federation of Automatic control. Volume 3 Applications I, Sydney, Australia, 18-23 July}, number = {2, Part 3}, pages = {535 - 540}, timestamp = {2018-05-08T13:41:41.000+0200}, title = {Force Control of Robot Arm Using the Virtual Environment Model}, url = {http://www.sciencedirect.com/science/article/pii/S1474667017487854}, volume = 26, year = 1993 }