DocumentCode
3328620
Title
A hybrid position/force control for robot manipulators with position controllers
Author
Ohto, Masahiro ; Mayeda, Hirokazu
Author_Institution
Matsushita Ind. Equipment Co. Ltd., Osaka, Japan
fYear
1991
fDate
28 Oct-1 Nov 1991
Firstpage
1037
Abstract
A new hybrid position/force control scheme over a position control scheme is proposed. The control scheme modifies the position command for force control against the constraint surface of the environment and is very easily designed and implemented. The merits of the control scheme are that it can cope with a change of constraint conditions and a small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on the controlled force
Keywords
control system analysis; force control; position control; robots; constraint surface position observer; force control; hybrid position/force control; position control; robot manipulators; Automatic control; Force control; Force feedback; Industrial control; Jacobian matrices; Manipulator dynamics; Robotic assembly; Robotics and automation; Robots; Surface impedance;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location
Kobe
Print_ISBN
0-87942-688-8
Type
conf
DOI
10.1109/IECON.1991.239148
Filename
239148
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