Kinematic hybrid position/force control of a 3-DOF in-parallel actuated manipulator

Author

Huynh, Patrick

Author_Institution

Div. of Mech. Eng., Ngee Ann Polytech, Singapore

Volume

1

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

237

Abstract

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-in-hole task about 10 μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for the parallel-link manipulator. Assisted by a human operator, the motion is generated by using force-torque based joystick commands and/or preplanned motion data. In teleoperation mode, the human operator can intervene and superpose corrective motions over the preplanned searching motion.

Keywords

force control; force feedback; manipulator kinematics; motion control; position control; telerobotics; force feedback; force-torque based joystick command; inverse kinematics; kinematic force control; kinematic position control; low-level position servo; parallel actuated manipulator; peg-in-hole task; preplanned motion data; teleoperation mode; Control systems; Force control; Force feedback; Humans; Manipulators; Mechanical engineering; Orbital robotics; Parallel robots; Robot kinematics; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438923

Filename

1438923