Hybrid Position and Force Control without Force Sensor.

Kinematic Hybrid Position/Force Control

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

Hybrid 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 ...

Mechanical analogies in hybrid position/force control

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...

Position / Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force Information

Robots used for industrial applications such as welding, painting and object handling have been common for many years. In recent years, the development of domestic robots has become more and more important because of the large and growing population of aged people, especially in Japan. To assist people in their daily lives, a robot must have the ability to deal with not only rigid objects but a...