NDLI: A method for the design of hybrid position/Force controllers for manipulators constrained by contact with the environment

Content Provider	IEEE Xplore Digital Library
Author	West, H. Asada, H.
Copyright Year	1985
Description	Author affiliation: Massachusetts Institute of Technology, Cambridge, Massachusetts (West, H.)
Abstract	A new method for the design of hybrid position/force controllers for constrained manipulators is derived. This method can be applied to all types of constraint due to contact with the environmcnt; including constraint due to contact at the end effector, constraint due to more than one robot manipulating a workpiece, and constraint due to the bracing of a robot arm against a work surface. The manipulator and its contact with the environment are modeled in terms of lower order pairs. From this model a general equation describing the constraint on the motion of the arm is derived. The task is modeled as a set of essential position vectors and a set of essential force vectors. A hybrid position/force controller is derived to control the position and force at the joints of a manipulator such that the motion of the the robot conforms to the constraints imposed on it due to contact with the environment; and the motion at the end effector, and the force at the contact with the environment are those required for the performance of the task. The method is illustrated by a simple three degree of freedom example.
Starting Page	251
Ending Page	259
File Size	730575
Page Count	9
File Format	PDF
DOI	10.1109/ROBOT.1985.1087271
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1985-03-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Design methodology Robot kinematics End effectors Manipulators Robotic assembly Motion control Machining Equations Drilling
Content Type	Text
Resource Type	Article

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