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A new scheme for hybrid force-position control

Published online by Cambridge University Press:  09 March 2009

Véronique Perdereau  and
Michel Drouin
Véronique Perdereau
Affiliation:
Laboratoire de Robotique de ParisUniversité Pierre et Marie Curie4 Place Jussieu75252 Paris Cedex 05 (France)
Michel Drouin
Affiliation:
Laboratoire de Robotique de ParisUniversité Pierre et Marie Curie4 Place Jussieu75252 Paris Cedex 05 (France)
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Summary

Many robotic tasks require the end-effector to come into contact with the external environment. In such complex tasks, the manipulator is constrained by the environment, and certain DOFs are lost for motion. The contact forces must be controlled in constraint directions, while the tip position is simultaneously controlled in the free directions.

Type
Research Article
Information
Robotica , Volume 11 , Issue 5 , September 1993 , pp. 453 - 464
Copyright
Copyright © Cambridge University Press 1993

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