DocumentCode :
3421533
Title :
An hybrid controller for a SCARA robot: Analysis and simulation
Author :
Dessaint, Louis-A ; Saad, Maarouf ; Hebert, Bernard ; Al-Haddad, Kamal
Author_Institution :
Ecole de Technol. Superieure, Montreal, Que., Canada
fYear :
1992
fDate :
9-13 Nov 1992
Firstpage :
1299
Abstract :
The authors present a hybrid controller that allows simultaneous force tracking in constrained directions and position tracking in unconstrained directions. The controller is an extension of a well-known adaptive position control scheme that exhibits remarkable performance in joint space. The hybrid controller is obtained by adding a commonly used force controller to the Cartesian space version of the adaptive position tracking controller. Analysis and simulation are used to evaluate the hybrid controller´s ability to execute trajectories using force and position feedback. The application robot is a four-degree-of-freedom SCARA
Keywords :
adaptive control; feedback; force control; position control; robots; Cartesian space; SCARA robot; adaptive control; constrained directions; feedback; four-degree-of-freedom; hybrid controller; position tracking; simultaneous force tracking; unconstrained directions; Adaptive control; Analytical models; Equations; Force control; Force feedback; Jacobian matrices; Orbital robotics; Position control; Programmable control; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
Type :
conf
DOI :
10.1109/IECON.1992.254416
Filename :
254416
Link To Document :
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