NDLI: Hybrid force/position control in moving hand coordinate frame

Content Provider	IEEE Xplore Digital Library
Author	Goradia, A. Ning Xi Jindong Tan
Copyright Year	2002
Description	Author affiliation: Robotics & Autom. Lab., Michigan State Univ., East Lansing, MI, USA (Goradia, A.; Ning Xi; Jindong Tan)
Abstract	In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. The major drawback of these strategies is that they can only provide for the control of the interaction forces along fixed task space directions. However, many applications necessitate interaction force control along arbitrary and changing directions. In this paper, a new hybrid force/position controller, implemented in a moving reference frame, which can control the interaction force along arbitrary directions is proposed. Using the proposed controller the robot manipulator can interact with workpieces whose shape is not pre-specified. Thus tasks like milling, deburring, polishing and surface tracking, that involve constrained motion control of the robot manipulator can be performed on a wide variety of workpieces without explicit knowledge of the shape of the workpiece. The design of this new hybrid force/position controller, implemented in the moving hand coordinate frame, is presented and the controller is shown to be stable. Simulation studies for the task of tracking unknown surfaces are also presented.
Starting Page	1126
Ending Page	1131
File Size	400538
Page Count	6
File Format	PDF
ISBN	9810483643
DOI	10.1109/ICARCV.2002.1234931
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-12-02
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Nanyang Technological Univ
Subject Keyword	Force control Position control Robot kinematics Manipulators Shape control Orbital robotics Motion control Robot control Milling Deburring
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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