Title :
Control of robot manipulators with constrained motion
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A hybrid control scheme for robot manipulators under constrained motion is proposed. The control law provides simultaneous position and force control for the manipulator in orthogonal directions. It is shown how the scheme will work for manipulators constrained to follow some rigid, frictionless constraint surface
Keywords :
control system analysis; force control; position control; robots; constrained motion; force control; position control; robot manipulators; End effectors; Force control; Laboratories; Manipulators; Motion control; Position control; Pressing; Robot control; Strain control; Vectors;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70429
