Gain scheduling for hybrid force/velocity control in contour tracking task
نویسندگان
چکیده
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 obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.
منابع مشابه
A Gain Scheduling Approach for Hybrid Force/velocity Controlled Robot Contour Tracking
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 satisfact...
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