io-port.net - Advanced Search

Advanced query form:

Year:

Type:

Journal

Book

Article

Please fill in your query. A complete syntax description you will find on the General Help page.

io-port 01303372
Featherstone, Roy; Sonck, Stef; Khatib, Oussama

A general contact model for dynamically-decoupled force/motion control. (English)

Casals, Alicia et al., Experimental robotics V. The 5th international symposium, Barcelona, Catalonia, Spain, June 15-18, 1997. Berlin: Springer. Lect. Notes Control Inf. Sci. 232, 128-139 (1998).

Keywords: first-order kinematic model of rigid-body contact; robot arms; Raibert-Craig model; projection matrices; force/motion control; invariant formulation; duality between motion and force vectors; face-vertex contacts

PDF XML AMS-TeX TEXT BIBTeX