Dynamic hybrid position/force control of robot manipulators--On-line estimation of unknown constraint

Journal Article · Thu Apr 01 04:00:00 EST 1993 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.238286· OSTI ID:5831243

Yoshikawa, Tsuneo ^[1]; Sudou, Akio ^[2]

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1. Kyoto Univ. (Japan). Dept. of Mechanical Engineering
2. Kyoto Univ. (Japan). Div. of Applied Systems Science

For the application of robot manipulators to complex tasks, it is often necessary to control not only the position of a manipulator but also the force exerted by the end-effector on an object. For this purpose, Raibert and Craig proposed the hybrid position/force control method. Extending their method, it is proposed that the dynamic hybrid control method, which takes into consideration the manipulator dynamics and the constraints on the end-effector specified by the given task. One difficulty in implementing the method is the availability of precise information on the size and position of the object with which the end-effector contacts. To cope with this difficulty, a problem of dynamic hybrid control with unknown constraint is studied. After a brief introduction of the dynamic hybrid control approach, on on-line estimation algorithm is developed that estimates the local shape of the constraint surface by using measured data on the position and force of the end-effector. It is then shown by experiments, using a SCARA-type robot, that the combination of this algorithm with the dynamic hybrid control method works fairly well. This approach decreases the burden on the operator of giving precise data on the constraint and makes the dynamic hybrid control approach more practical.

• OSTI ID: 5831243
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Journal Name: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States) Vol. 9:2; ISSN 1042-296X; ISSN IRAUEZ
• Country of Publication: United States
• Language: English

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