Cart (Loading....) | Create Account
Close category search window

Dynamic hybrid velocity/force control of robot compliant motion over globally unknown objects

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
$31 $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

3 Author(s)
Goddard, R.E. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Zheng, Y.F. ; Hemami, H.

The application of robotic manipulators to complex tasks such as assembly, or insertion often requires position/force control of the end-effector, and this has been widely studied. A related task is robot compliant motion over unknown objects. The goal is to move the effector, while maintaining contact, about the object. For this application a dynamic hybrid velocity/force controller is studied. The constraints are characterized in the manner proposed by M. Mason (1981). A nominal velocity trajectory is computed, and nominal hybrid joint commands are explicitly given in terms of the sensed joint coordinates and sensed local contact information. For robustness, servoing is added, and an example design is given. Finally, the step response of the controller is simulated for the case of rolling the effector about an unknown object

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )

Date of Publication:

Feb 1992

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.