Parallel Position/force Controller for Teleoperation Systems
نویسندگان
چکیده
Control system designers nowadays have a wide selection of teleoperation architectures to configure their systems. Regardless of the architecture, if the process requires application of forces to the outer media, monitoring these forces are necessary as well as the motion of the manipulator. Most of the time, customary control strategies fail when both the position and the force trajectories are to be followed. By contrast, parallel position/force controllers provide an acceptable solution to this problem. The two control architectures discussed in this paper are hybrid position/force and admittance controllers. The simulation results illustrating the performance of the controllers are also presented as applied on a SCARA manipulator. Copyright © 2007 IFAC
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