A new method for the design of hybrid position/force controllers for constrained manipulators is derived. This method can be applied to all types of constraint due to contact with the environment; including constraint due to contact at the end effector, constraint due to more than one robot manipulating a workpiece, and constraint due to the bracing of a robot arm against a work surface. The manipulator and its contact with the environment are modeled in terms of lower order pairs. From this model a general equation describing the constraint on the motion of the arm is derived. The task is modeled as a set of essential position vectors and a set of essential force vectors. A hybrid position/force controller is derived to control the position and force at the joints of a manipulator such that the motion of the the robot conforms to the constraints imposed on it due to contact with the environment; and the motion at the end effector, and the force at the contact with the environment are those required for the performance of the task. The method is illustrated by a simple three degree of freedom example.
CITATION STYLE
West, H., & Asada, H. (1985). A method for the design of hybrid position/force controllers for manipulators constrained by contact with the environment. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 251–259). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ROBOT.1985.1087271
Mendeley helps you to discover research relevant for your work.