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A Hybrid Force Following Controller For Multi-Scale Motions
Philipp Stolka , Dominik Henrich

Abstract (deutsch)
In vielen Anwendungen in der Robotik ist das Eingeben von Raumpunkten notwendig für die Registrierung des Roboterkoordinatensystems mit dem der Anwendung. Mensch-Roboter-Interaktion ist wegen der Grö

Abstract (english)
In many robotic applications, the teaching of points in space is necessary to register the robot coordinate system with the one of the application. Robot-human interaction is awkward and dangerous for the human because of the possibly large size and power of the robot, so robot movements must be predictable and natural. We present a novel hybrid control algorithm which provides the needed precision in small scale movements while allowing for fast and intuitive large scale translations.

Publication data

Year: 2003
Publication date: 24. July 2003
Source: SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wroc
Keywords (deutsch): Hybridregler , kraftbasiertes Führen , Kraftregelung
Keywords (english): force control , force following , hybrid control


  TITLE             = "A Hybrid Force Following Controller For Multi-Scale Motions",
  AUTHOR            = "Stolka, Philipp and Henrich, Dominik",
  YEAR              = "2003",
  JOURNAL           = "SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wroc",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
stolka2003a.A.Hybrid.Force.Following.Controller.For.MultiScale.Motions.djvu   86.6K   english   DJVU   download preprint
stolka2003a.A.Hybrid.Force.Following.Controller.For.MultiScale.Motions.pdf   345.8K   english   PDF   download preprint

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