By Topic

Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
T. Yoshikawa ; Kyoto University, Kyoto, Japan

For the application of robot manipulators to complex tasks, it is often necessary to control not only the position of a manipulator but also the force exerted by the hand on an object. For this purpose, Raibert and Craig have proposed the hybrid position/force control method. In this method, however, the manipulator dynamics has not been taken into account rigorously. The dynamic hybrid control method is proposed, which takes the manipulator dynamics into consideration. Constraints on the end effector are described by a set of constraint hypersurfaces. Then the basic equations for dynamic hybrid control are derived. It is shown that if the manipulator is not in a singular configuration, the desired position and force at the end effector can be simultaneously realized. Finally, a basic structure of the dynamic hybrid control system with a servo compensator is given.

Published in:

IEEE Journal on Robotics and Automation  (Volume:3 ,  Issue: 5 )