Force/position control of robot manipulator via motion dynamics

Author

Im, Kyumann ; Jeong, Sacheul ; Lee, Jeonghyu ; Ham, Woonchul

Author_Institution

Dept. of Electron. Eng., Chonbuk Nat. Univ., Chonju, South Korea

Volume

2

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1270

Abstract

In this paper, we propose a new force/position control scheme for motion control of a rigid robot manipulator along a frictionless surface represented by an integral submanifold of some distribution. The described control scheme involves the exact cancellation of the nonlinear terms of the projected end effector dynamics in the position and force controlled directions. We introduce a new motion equation on the integral submanifold of a smooth distribution by using differential geometry. The feasibility of the proposed force control scheme is verified through a computer simulation

Keywords

control system analysis computing; control system synthesis; controllers; differential geometry; digital simulation; force control; manipulator dynamics; path planning; position control; simulation; computer simulation; controller design; differential geometry; end effector dynamics; force control; frictionless surface; integral submanifold; motion control; motion dynamics; motion equation; nonlinear terms cancellation; position control; rigid robot manipulator; two-link robot; Differential equations; End effectors; Force control; Geometry; Integral equations; Manipulator dynamics; Motion control; Nonlinear equations; Position control; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.566062

Filename

566062