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Hybrid control of robot manipulators

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2 Author(s)
Zhang, Hong ; Purdue University West Lafayette, IN ; Paul, R.P.

A robot manipulator must be able to satisfy any consistent position and force specifications in a well-defined Cartesian coordinate frame. In this paper, we present a method to achieve such a hybrid control of position and force. While the desired compliance is specified in Cartesian space, the control is accomplished in joint space, thus effectively reducing the computation load. Results show that accurate position and force control is obtained.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985