In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.
Hybrid Position/Force Control of Robot Manipulators
NASA Tech Briefs ; 6 , 3
1982-12-01
Miscellaneous
No indication
English
Robust Hybrid Position/Force Control for Robot Manipulators
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