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

Shi Xiang Tian; Sheng Ze Wang

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

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 48-49Hybrid Position/Force Control for a RRR 3-DoF...

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

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 48-49)

Pages:

589-592

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.48-49.589

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Online since:

February 2011

Authors:

Shi Xiang Tian, Sheng Ze Wang

Keywords:

Contraint, Hybrid Position/Force Control, Manipulator, Normal Force

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