| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712584 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper, the use of implicit (position based) and explicit hybrid force/velocity control for contour tracking task of unknown (planar) objects is discussed and compared from an industrial point of view. In particular, the joint friction compensation issue is addressed. A large number of experimental results obtained with a 2 degree-of-freedom SCARA industrial manipulator is shown to support the investigation.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
G. Legnani, A. Visioli, G. Ziliani,