In hybrid control of robot manipulators separate controllers are designed for force and
position errors control. Controllers are designed either in task or joint space and their …

This paper presents a joint space formulation for robot manipulator's hybrid motion/force
control. The motivations come from 1) extending the previous work to general (either …

In the approach presented in this research, a six DOF industrial manipulator is used as the
master device to provide haptic feedback to the operator. In order develop effective …

This paper presents a stability analysis of force-position teleoperation under general end-
effector contact. The analysis is based on the finite and infinite zero structure of the …

This corresponance aims at correcting and clarifying the stability conditions given in
Doulgeri, Fahantidis and Paul (1998) for selected error schemes in hybrid position/force …

This paper presents a new stable controller design for use with a general 6-dof robotic
haptic device. A virtual manipulator concept is developed that couples the haptic device …

The stability of the hybrid position/force control for manipulators is examined using
Lyapunov's direct method for decentralized controllers which are in the form of linear …

List of Symbols â 6-dim rigid body acceleration C Constraint function C Coriolis and
gravitational force of robot manipulator E Configuration space, or embedding Euclidean …

This thesis addresses current haptic display technology where the user interacts with a
virtual environment by means of specialized interface devices. The user manipulates …

In the approach presented in this research, a six DOF industrial manipulator is used as the
master device to provide haptic feedback to the operator. In order develop effective …