منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملHybrid Position / Force Control of Manipulators 1
A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The "hybrid" technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller's ...
متن کاملRobust Hybridmotion-force Control Algorithmfor Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot Abstract manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion object ives in free direct ions and force object ives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given sc...
متن کاملFractional-Order Position/Force Control of Two Cooperating Manipulators
Two robots carrying a common object are a logical alternative for the case in which a single robot is not able to handle the load [1 2]. Nevertheless, with two cooperative robots the resulting interaction forces have to be accommodated rather than rejected. Consequently, in addition to position feedback, force control is also required to accomplish the task [3 4]. There are two basic methods fo...
متن کاملHigh Performance Control of Manipulators Using Base Force/torque Sensing
Joint friction is a major problem in accurately controlling manipulators performing small precise tasks. Previously developed solutions to this problem require the use of either complex and unreliable models of the joint friction or expensive and delicate internal joint torque sensors. Here a simple, cost-effective method for compensating the effect of joint friction is proposed. It uses a six-...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1991
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.9.751