@inproceedings{579f9e7a34884f48a22e6e853e1dbca6,
title = "Constraint-combined force/position hybrid control method with Lyapunov stability",
abstract = "Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. In this paper, we design a new compensation of the system based on the constrained system and prove its convergence in a new way with Lyapunov method, in this way we focus on the motion of the manipulator because the output force is a function of the input torque directly which is not affected by time.",
keywords = "Constraint-combined, Grinding robot, Lyapunov Stability",
author = "Fujia Yu and Mamoru Minami and Tomohide Maeba and Akira Yanou",
year = "2011",
month = jan,
day = "1",
language = "English",
isbn = "9784907764395",
series = "Proceedings of the SICE Annual Conference",
publisher = "Society of Instrument and Control Engineers (SICE)",
pages = "671--676",
booktitle = "SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts",
note = "50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 ; Conference date: 13-09-2011 Through 18-09-2011",
}