A systematic method of hybrid position/force control of a manipulator

Proceedings - International Computer Software and Applications Conference

Volumn , Issue , 1979, Pages 446-451

  Craig, John J ^a   Raibert, Marc H ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPLICATION PROGRAMS; COMPUTER CONTROL; CONTROLLERS; POSITION CONTROL; ROBOT APPLICATIONS;

ASSEMBLY PROBLEMS; CARTESIAN COORDINATE SYSTEM; CONTACT FORCES; FORCE SENSOR; HYBRID CONTROLLER; HYBRID POSITION/FORCE CONTROL; ROBOT MANIPULATOR; SYSTEMATIC METHOD;

MANIPULATORS;

EID: 85040156388     PISSN: 07303157     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CMPSAC.1979.762539     Document Type: Conference Paper

References (9)

1. Inoue, H., "Force Feedback in Precise Assembly Tasks", MIT Artificial Intelligence Laboratory Memo 308, August, 1974.
2. Mason, M. T., "Compliance and Force Control for Computer Controlled Manipulators", MIT Artificial Intelligence Laboratory Technical Report 515, April, 1979.
3. Nevins, J. L., and Whitney, D. E., "The Force Vector Assembler Concept", First International Conference on Robots and Manipulators, Udine, Italy, September, 1973.
4. Paul, R., "Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm", Stanford Artificial Intelligence Laboratory Memo 177, November, 1972.
5. Paul, R., and Shimano, B., "Compliance and Control", Joint Automatic Control Conference, San Francisco, 1976.
6. Paul, R., Presentation given at annual meeting of NSF grantees, September, 1978, West Lafayette, Indiana.
7. Shimano, B., "Force Control", Exploratory Study of Computer Integrated Assembly Systems, Binford, T. O., et. al., Stanford Artificial Intelligence Laboratory Memo 285.4, June, 1977.
8. Takase, K., Inoue, H., Sato, K., and Hasiwara, S., "The Design of an Articulated Manipulator with Torque Control Ability", Fourther International Symposium on Industrial Robots, November, 1974.
9. Whitney, D. E., "Force Feedback Control of Manipulator Fine Motions", Joint Automatic Control Conference, San Francisco, 1976.