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Mathematical Problems in Engineering
Volume 2015, Article ID 918301, 13 pages
Research Article

An Optimization-Based Impedance Approach for Robot Force Regulation with Prescribed Force Limits

1Facultad de Ingeniería, Universidad Veracruzana, Boulevard Adolfo Ruiz Cortines S/N, Costa Verde, 94294 Boca del Río, VER, Mexico
2Centro de Investigación y de Estudios Avanzados del IPN, Unidad Zacatenco, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Avenida Instituto Politécnico Nacional No. 2508, 07360 San Pedro Zacatenco, México, DF, Mexico

Received 31 October 2014; Accepted 6 January 2015

Academic Editor: Luis Rodolfo Garcia Carrillo

Copyright © 2015 R. de J. Portillo-Vélez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Supplementary Material

In this video, the grasping task is performed by the two robots while the desired position of the object is commanded by a human operator using a master robot. Note that the grasp is maintained until the end of the experiment, and then the object falls due to the action of the gravity force.

  1. Supplementary Material