Title :
Analysis and design of hybrid position/force control of robotic arm
Author :
Ueno, Toshiyuki ; Midorikawa, Kazunori
Author_Institution :
Dept. of Mech. Eng., Chiba Univ., Japan
Abstract :
This paper presents the optimum design method for the hybrid position/force controller of robotic arms. Linearized mathematical expression of the controlled manipulator is given, where the hand is constrained its motion along a frictionless plane and the contact force is generated as if there were an elastic spring between the hand and the wall. It is shown that the model can be expressed in state equation by choosing the position and force as state variables for nonredundant arms. This fact makes it possible to realize hybrid control architecture by linear feedback of state variables.<>
Keywords :
control system synthesis; feedback; force control; linearisation techniques; position control; robots; state-space methods; contact force; control analysis; control design; frictionless plane; hybrid position/force control; linear feedback; linearized mathematical expression; nonredundant arms; robotic arm; state equation; state variables; Arm; Design methodology; Equations; Force control; Linear feedback control systems; Manipulators; Motion control; Robot control; Springs; State feedback;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240433
