Hybrid Position/Force Control for a RRR 3-DoF Manipulator

Abstract:

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In this paper, a novel hybrid position/force controller has been proposed for a three degree of freedom (3-DOF) of robot trajectory following that is required to switch between position and force control. The whole controller consists of two components: a positional controller and a force controller. Depending on whether the end-effector is in free space or in contact with the environments during work, the two subcontrollers run simultaneously to guide the manipulator tracking in free space and constraint environments. After the principle and stability of the controller are briefly analyzed, simulation results verify that the proposed controller attains a high performance.

Info:

Periodical:

Edited by:

Zhixiang Hou

Pages:

589-592

DOI:

10.4028/www.scientific.net/AMM.48-49.589

Citation:

S. X. Tian and S. Z. Wang, "Hybrid Position/Force Control for a RRR 3-DoF Manipulator", Applied Mechanics and Materials, Vols. 48-49, pp. 589-592, 2011

Online since:

February 2011

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Price:

$35.00

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