HYBRID POSITION-FORCE CONTROL OF MANIPULATORS
HYBRID POSITION-FORCE CONTROL OF MANIPULATORS
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DOI：
10.1115/1.3139652
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发表时间：
1981-01-01
影响因子：
1.7
通讯作者：
CRAIG, JJ
中科院分区：
文献类型：
--
作者：
RAIBERT, MH;CRAIG, JJ
提出了一种新的概念简单的方法来控制机器人操作器的顺应运动。所描述的“混合”技术将力和扭矩信息与位置数据相结合，以同时满足在方便的任务相关坐标系中指定的位置和力轨迹约束。分析，仿真和实验被用来评估控制器的能力，执行轨迹使用反馈从力传感手腕和位置传感器中发现的机械手关节。结果表明，该方法实现了稳定，精确的控制力和位置轨迹的各种测试条件。
A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The “hybrid” technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller’s ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.