Hostname: page-component-586b7cd67f-2plfb Total loading time: 0 Render date: 2024-11-25T23:06:57.241Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Salisbury, J.K., “Active stiffness control of a manipulator in cartesian coordinates”Proc. 19th IEEE Conference on Decision and Control, Albuquerque, USA, (December, 1980) pp. 1–6.Google Scholar
2.Raibert, M.H. and Craig, J.J., “Hybrid position/force control of maniuplators” Transactions of ASME 102, 126–133 (June, (1981).Google Scholar
3.Perdereau, V., “Contribution à la commande hybride force-position. Application à la coopération de deux robots” Thèse de doctoral VUniversiti Paris VI, (February 18, 1991).Google Scholar
4.Mason, M.T., “Compliance and force control for computer controlled manipulators” IEEE Transactions on Systems, Man, and Cybernetics SMC–11, No. 6, 418–432 (June, 1981)CrossRefGoogle Scholar
5.Khatib, O. and Burdick, J., “Motion and force control of robot manipulators”Proc. IEEE International Conference on Robotics and Automation, San Francisco, USA (April 7–10, 1986) pp. 1381–1386.Google Scholar
6.Reboulet, C. and Robert, A., “Hybrid control of a manipulator equipped with an active compliant wrist”Proc. 3rd International Symposium on Robotics Research, Gouviuex, France (October 7–11, 1985) pp. 237–241.Google Scholar
7.Yabuta, T., Chona, A.J. and Beni, G., “On the asymptotic stability of the hybrid position/force control scheme for robot manipulators”Proc. IEEE International Conference on Robotics and Automation, Philadelphia, USA, (April 24–29, 1988) pp. 338–343,Google Scholar
8.Wedel, D.L. and Saridis, G.N., “An experiment in hybrid position/force control of a six D.O.F. revolute manipulator”Proc. IEEE International Conference on Robotics and Automation, Philadelphia, USA (April 24–29, 1988) pp. 1638–1642.Google Scholar
9.An, C.H. and Hollerbach, J.M., “Dynamic stability issues in force control of manipulators”Proc. IEEE International Conference on Robotics and Automation, Raleigh, USA, (March 31–April 3, 1987) pp. 890–896.Google Scholar
10.Hayati, S., Tso, K. and Lee, T., “Generalized Master/Slave coordination and control for a dual arm robotic system”Proc. 2nd International Symposium on Robotics and Manufacturing Albuquerque, USA (November 16–18, 1988) pp. 421–430.Google Scholar
11.Kazanzides, P., Bradley, N. Scott and Wolowich, W.A., “Dual-drive force/velocity control: implementation and experimental results”Proc. IEEE International Conference on Robotics and Automation, Scottsdale, USA, (May 14–19, 1989) pp. 92–97.Google Scholar
12.Merlet, J.-P., “C-surface applied to the design of an hybrid force-position controller”Proc. IEEE International Conference on Robotics and Automation, Raleigh, USA (March 31–April 3, 1987) pp. 1055–1059.Google Scholar
13.Perdereau, V. and Drouin, M., “An hybrid external solution for two-robots cooperation”Proc. 2nd France-Israel Symposium on robotics. Advances in non-manufacturing robotics, Saclay, France, (April 8–10, 1991) pp. 1.15–1.22.Google Scholar