Title :
Mechanical analogies in hybrid position/force control
Author :
Joly, L.D. ; Andriot, C. ; Hayward, V.
Author_Institution :
Service de Teleoperation et de Robotique, CEA, Centre d´´Etudes Nucleaires de Fontenay-aux-Roses, France
Abstract :
It is shown that in hybrid position/force control as well as in multi-robot cooperation and teleoperation, the desired behavior of the system can be defined in terms of a massless mechanism whose joints act as ideal position or force sources. Based on this remark, a simple and robust controller is proposed. Experiments validate the approach
Keywords :
Jacobian matrices; force control; manipulator kinematics; position control; telerobotics; hybrid position/force control; massless mechanism; mechanical analogies; multi-robot cooperation; robust controller; teleoperation; Deburring; Force control; Intelligent robots; Machine intelligence; Manipulators; Motion control; Robot kinematics; Robotic assembly; Robust control; Symmetric matrices;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620138
