| タイトル | Adaptive Force Control in Compliant Motion |
| 著者（英） | Seraji, H. |
| 発行日 | 1994-01-01 |
| 言語 | eng |
| 内容記述 | This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Two classes of solutions are discussed: adaptive admittance control and adaptive compliance control. In both admittance and compliance control schemes, compensator adaptation is used to ensure a stable and uniform system performance. |
| 権利 | Copyright |
|
