A unified approach for motion and force control of robot manipulators: The operational space formulation
Тип публикации: Journal Article
Дата публикации: 1987-02-01
SJR: —
CiteScore: —
Impact factor: —
ISSN: 08824967, 23748710
Computer Science Applications
Electrical and Electronic Engineering
General Engineering
Control and Systems Engineering
Краткое описание
A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.
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ГОСТ
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Khatib O. A unified approach for motion and force control of robot manipulators: The operational space formulation // IEEE Journal on Robotics and Automation. 1987. Vol. 3. No. 1. pp. 43-53.
ГОСТ со всеми авторами (до 50)
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Khatib O. A unified approach for motion and force control of robot manipulators: The operational space formulation // IEEE Journal on Robotics and Automation. 1987. Vol. 3. No. 1. pp. 43-53.
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TY - JOUR
DO - 10.1109/JRA.1987.1087068
UR - https://doi.org/10.1109/JRA.1987.1087068
TI - A unified approach for motion and force control of robot manipulators: The operational space formulation
T2 - IEEE Journal on Robotics and Automation
AU - Khatib, Oussama
PY - 1987
DA - 1987/02/01
PB - Institute of Electrical and Electronics Engineers (IEEE)
SP - 43-53
IS - 1
VL - 3
SN - 0882-4967
SN - 2374-8710
ER -
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BibTex (до 50 авторов)
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@article{1987_Khatib,
author = {Oussama Khatib},
title = {A unified approach for motion and force control of robot manipulators: The operational space formulation},
journal = {IEEE Journal on Robotics and Automation},
year = {1987},
volume = {3},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
month = {feb},
url = {https://doi.org/10.1109/JRA.1987.1087068},
number = {1},
pages = {43--53},
doi = {10.1109/JRA.1987.1087068}
}
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MLA
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Khatib, Oussama. “A unified approach for motion and force control of robot manipulators: The operational space formulation.” IEEE Journal on Robotics and Automation, vol. 3, no. 1, Feb. 1987, pp. 43-53. https://doi.org/10.1109/JRA.1987.1087068.
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