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An approach to force and position control of robot manipulators

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2 Author(s)
L. Cai ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; A. A. Goldenberg

An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989