DocumentCode
2530001
Title
Hybrid control of robot manipulators
Author
Zhang, Hong ; Paul, Richard P.
Author_Institution
Purdue University West Lafayette, IN
Volume
2
fYear
1985
fDate
31107
Firstpage
602
Lastpage
607
Abstract
A robot manipulator must be able to satisfy any consistent position and force specifications in a well-defined Cartesian coordinate frame. In this paper, we present a method to achieve such a hybrid control of position and force. While the desired compliance is specified in Cartesian space, the control is accomplished in joint space, thus effectively reducing the computation load. Results show that accurate position and force control is obtained.
Keywords
Computational geometry; Error correction; Force control; Jacobian matrices; Manipulators; Materials handling; Orbital robotics; Robot control; Robot kinematics; Robotic assembly;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1985.1087304
Filename
1087304
Link To Document