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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 1985, Pages 251-259

  West, Harry ^a   Asada, Haruhlko ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); DESIGN; END EFFECTORS; ROBOTICS;

CONSTRAINED MANIPULATOR; FORCE VECTORS; GENERAL EQUATIONS; HYBRID POSITION; POSITION VECTOR; ROBOT ARMS; THREE DEGREE OF FREEDOMS; WORKPIECE;

MANIPULATORS;

EID: 85028299759     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1985.1087271     Document Type: Conference Paper

References (7)

1. Asada, H. and West H., "Kinematic Analysis and Design of Tool Guide Mechanisms for Grinding Robots," Proceedings of the 1984 ASME Winter Annual Meeting, Session of Computer Integrated Manufacturing and Robotics, New Orleans, December 1985, pp. 1-17.
2. Ben-Israel, A. and Greville, T. N. E., Generalized Inverses: Theory and Applications, Wiley, New york, 1974.
3. Book, W. J. Le, S., and Sangveraphunsiri, V., "The Bracing Strategy for Robot Operation," Symposium on the Theory and Practice of Robots and Manipulators, Udine, Italy, June 1984, pp. 139-145.
4. Hartenburg, R. S. and Denavit, J., Kinematic Synthesis Of Linkages, McGraw-Hill, New York, 1964.
5. Hogan, N. and Moore, S. R., "Part Referenced Manipulation - A Strategy Applied to Robotic Drilling," Proceedings of the 1983 ASME Winter Annual Meeting, Boston, 1983, pp. 183-191.
6. Mason, M. T., "Compliance and Force Control for Computer Controlled Manipulators," IEEE Transactions on Systems, Man and Cybernetics vol SMC-11 No. 6 June 1981. pp. 418-431.
7. Raibert, M. H. and Craig J. J., "Hybrid Position/Force Control of Manipulators." Journal of Dynamic Systems, Measurement and Control. vol 102, June 1981, pp. 126-133.