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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| Format: | Final Year Project Report |
| Language: | English English |
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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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my.unimas.ir.227302024-03-12T05:12:15Z http://ir.unimas.my/id/eprint/22730/ Hybrid position/force control Wong, Kian Ann T Technology (General) TJ Mechanical engineering and machinery 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. Universiti Malaysia Sarawak (UNIMAS) 1999 Final Year Project Report NonPeerReviewed text en http://ir.unimas.my/id/eprint/22730/1/Hybrid%20position-force%20control%20%2824%20pgs%29.pdf text en http://ir.unimas.my/id/eprint/22730/4/WONG%20KIAN%20ANN%20%28fulltext%29.pdf Wong, Kian Ann (1999) Hybrid position/force control. [Final Year Project Report] (Unpublished) |
| institution |
Universiti Malaysia Sarawak |
| building |
Centre for Academic Information Services (CAIS) |
| collection |
Institutional Repository |
| continent |
Asia |
| country |
Malaysia |
| content_provider |
Universiti Malaysia Sarawak |
| content_source |
UNIMAS Institutional Repository |
| url_provider |
http://ir.unimas.my/ |
| language |
English English |
| topic |
T Technology (General) TJ Mechanical engineering and machinery |
| spellingShingle |
T Technology (General) TJ Mechanical engineering and machinery Wong, Kian Ann Hybrid position/force control |
| description |
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. |
| format |
Final Year Project Report |
| author |
Wong, Kian Ann |
| author_facet |
Wong, Kian Ann |
| author_sort |
Wong, Kian Ann |
| title |
Hybrid position/force control |
| title_short |
Hybrid position/force control |
| title_full |
Hybrid position/force control |
| title_fullStr |
Hybrid position/force control |
| title_full_unstemmed |
Hybrid position/force control |
| title_sort |
hybrid position/force control |
| publisher |
Universiti Malaysia Sarawak (UNIMAS) |
| publishDate |
1999 |
| url |
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/ |
| _version_ |
1794644069244207104 |
| score |
13.160551 |