Paper Info
Title
Hierarchical inequality task specification for indirect force controlled robots using quadratic programming
Abstract
In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.
Year
DOI
Venue
2014
10.1109/IROS.2014.6943234
Intelligent Robots and Systems
Keywords
Field
DocType
force control,manipulators,position control,quadratic programming,velocity control,force task,hierarchical inequality task specification,indirect force controlled robots,positioning task,quadratic programming,reactive control,virtual velocity commands
Control theory,Torque,Control theory,Computer science,Robot kinematics,Control engineering,Quadratic programming,Robot,Reactive control,Cartesian coordinate system
Conference
ISSN
Citations 
PageRank 
2153-0858
1
0.36
References 
Authors
9
2
Name
Order
Citations
PageRank
Ewald Lutscher1192.90
Gordon Cheng21250115.33