A Gain Scheduling Approach for Hybrid Force/velocity Controlled Robot Contour Tracking
نویسندگان
چکیده
This paper deals with the implementation of a hybrid force/velocity controller for the contour tracking of an object of an unknown shape performed by an industrial robot manipulator. In particular we propose the use of a gain scheduling approach in order to cope with the configuration dependent dynamics of the manipulator in constrained motion and therefore in order to allow to obtain satisfactory performances in a very large portion of the robot workspace. Experimental results, obtained with a two degrees-of-freedom SCARA industrial robot manipulator show the effectiveness of the approach. Copyright c © 2005 IFAC
منابع مشابه
Gain scheduling for hybrid force/velocity control in contour tracking task
In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtai...
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