{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,30]],"date-time":"2024-06-30T11:11:21Z","timestamp":1719745881323},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T00:00:00Z","timestamp":1236643200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations.<\/jats:p>","DOI":"10.1017\/s0263574709005451","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T10:31:07Z","timestamp":1236681067000},"page":"1039-1048","source":"Crossref","is-referenced-by-count":7,"title":["Simultaneous velocity, impact and force control"],"prefix":"10.1017","volume":"27","author":[{"given":"Ranko","family":"Zotovic Stanisic","sequence":"first","affiliation":[]},{"given":"\u00c1ngel","family":"Valera Fern\u00e1ndez","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,10]]},"reference":[{"key":"S0263574709005451_ref10","unstructured":"10. Xu Y. , Hollerbach J. M. and Ma D. , \u201cForce and Contact Transient Control Using Nonlinear PD Control,\u201d Proceedings of the 1994 International Conference on Robotics and Automation (1994) pp. 924\u2013930."},{"key":"S0263574709005451_ref2","doi-asserted-by":"crossref","DOI":"10.1115\/1.2899694","volume-title":"Mechanical Impact Dynamics\u2013Rigid Body Collisions","author":"Brach","year":"1991"},{"key":"S0263574709005451_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/70.246048"},{"key":"S0263574709005451_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906067543"},{"key":"S0263574709005451_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200403"},{"key":"S0263574709005451_ref7","volume-title":"Proceedings of the 17th IFAC world Congress","author":"Zotovic Stanisic","year":"2008"},{"key":"S0263574709005451_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/37.710879"},{"key":"S0263574709005451_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/9.554400"},{"key":"S0263574709005451_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0557-2"},{"key":"S0263574709005451_ref15","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022067120"},{"key":"S0263574709005451_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/37.257891"},{"key":"S0263574709005451_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700501"},{"key":"S0263574709005451_ref14","first-page":"101","article-title":"Stability of nonlinear PD control","volume":"7","author":"Armstrong","year":"1997","journal-title":"Appl. Math. Comp. Sci."},{"key":"S0263574709005451_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/9.262033"},{"key":"S0263574709005451_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/37.341859"},{"key":"S0263574709005451_ref19","volume-title":"Modeling and Control of Robot Manipulators","author":"Sciavicco","year":"1996"},{"key":"S0263574709005451_ref9","first-page":"263","article-title":"Entwurf robuster Regelungssysteme mittels zustandsabh\u00e4ngiger Struktur\u00e4nnderung","volume":"29","author":"Franke","year":"1981","journal-title":"Regelungstechnik"},{"key":"S0263574709005451_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600107"},{"key":"S0263574709005451_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/87.911392"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005451","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,29]],"date-time":"2019-04-29T21:56:34Z","timestamp":1556574994000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005451\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,10]]},"references-count":19,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2009,12]]}},"alternative-id":["S0263574709005451"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005451","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,10]]}}}