Position and Force Control of Manipulators without Using Force Sensors.
نویسندگان
چکیده
منابع مشابه
Hybrid Position / Force Control of Manipulators 1
A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The "hybrid" technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller's ...
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The problem of controlling force and position of a exible link manipulator in contact with a compliant environment is considered in this paper. Using singular perturbation theory, a slow subsystem associated with rigid motion dynamics and a fast subsystem associated with link exible dynamics are identi ed. Hence a two-time scale control strategy is adopted, consisting in a force and position co...
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ژورنال
عنوان ژورنال: JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
سال: 1992
ISSN: 0914-8825
DOI: 10.1299/jsmec1988.35.252