@article{li_sensor-based_1996,
	title = {A {Sensor}-{Based} {Robot} {Transition} {Control} {Strategy}},
	volume = {15},
	issn = {0278-3649},
	url = {https://doi.org/10.1177/027836499601500202},
	doi = {10.1177/027836499601500202},
	abstract = {This article presents a real-time sensor-based control approach to the manipulation of the transition of a robot from free space motion to contact with an environment. Use is made of exter nal sensors, including proximity sensors and a force sensor at the end effector of the robot, to control the interaction between the robot and its environment. To achieve direct robot end-effector position control, a short-range fiber optic proximity sensor is used. A multi-phase cantrol strategy is proposed that includes an approach phase, where a force con trol scheme is used prior to contact, as well as a proximity phase where the proximity sensor-based control is employed. Implementation results carried out on an industrial robot are reported.},
	language = {en},
	number = {2},
	urldate = {2018-06-15TZ},
	journal = {The International Journal of Robotics Research},
	author = {Li, Y.F.},
	month = apr,
	year = {1996},
	pages = {128--136}
}

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