Hybrid position, posture, force and moment control with impedance characteristics for robot manipulators

Author

Yao, Yu ; Huang, Qingjiu ; Peng, Yan ; Oiwa, Taishi

Author_Institution

Inst. of Robotic Sci. & Eng., Nanjing Univ. of Technol., Nanjing, China

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

2129

Lastpage

2134

Abstract

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator.

Keywords

force control; grinding; industrial manipulators; motion control; painting; polishing; position control; 6-DOF robot manipulator; character-erasing motion simulation; hybrid force control; hybrid moment control; hybrid position control; hybrid posture control; impedance characteristics; industrial production; rotation order; separation method; surface contact works; Aerospace electronics; Force; Interference; Manipulator dynamics; Mathematical model; 6-DOF robot manipulator; dynamic modeling; hybrid control; impedance characteristics; surface contact work;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986310

Filename

5986310