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.


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    Title :

    Hybrid Position/Force Control of Robot Manipulators


    Contributors:

    Published in:

    Publication date :

    1982-12-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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