Hybrid position/force control
This project report presents a hybrid control scheme controlling the joint position and Cartesian contact force of a robot manipulator with inner computed-torque feedforward loop. The control scheme consists of two controllers: the proportional plus derivative position controller and the proportion...
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| Main Author: | |
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| Format: | Final Year Project Report |
| Language: | English English |
| Published: |
Universiti Malaysia Sarawak (UNIMAS)
1999
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| Online Access: | http://ir.unimas.my/id/eprint/22730/1/Hybrid%20position-force%20control%20%2824%20pgs%29.pdf http://ir.unimas.my/id/eprint/22730/4/WONG%20KIAN%20ANN%20%28fulltext%29.pdf http://ir.unimas.my/id/eprint/22730/ |
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| Summary: | This project report presents a hybrid control scheme controlling the joint position and Cartesian contact force of a robot manipulator with inner computed-torque
feedforward loop. The control scheme consists of two controllers: the proportional plus derivative position controller and the proportional plus velocity force controller. The controllers are designed based on the model reference control and orthogonal force/position constraints under the assumption of constant desired forces and slowly time-varying motion. Simulations studies performed on a 6 degree of freedom PUMA 560 robot model are presented. |
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