Name
Abstract | ||
|---|---|---|
The design and the implementation of a hybrid force-position control scheme are presented. Joint level dynamic decoupling is performed by a hardware controller using feedforward plus sliding mode terms, and task-level decoupling is obtained by kinematic transformations. Simple linear state-feedback loops act in the task space. A careful design and some simplifying assumptions allow reduction of the hardware requirements, leading to a low-cost solution. Experimental results are presented validating the control scheme and the design hypothesis. Some critical aspects of the control loops are discussed. Future developments relating to improvements in disturbance rejection and applications are considered.<
<ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX> |
Year | DOI | Venue |
|---|---|---|
1992 | 10.1109/ROBOT.1992.219967 | ICRA |
Keywords | Field | DocType |
control system synthesis,force control,kinematics,position control,robots,variable structure systems,control system synthesis,design,disturbance rejection,feedforward,hybrid force-position controller,joint level dynamic decoupling,kinematic transformations,linear state-feedback loops,sliding mode,task-level decoupling | Control theory,Kinematics,Control theory,Decoupling (cosmology),Control engineering,Engineering,Robot,Variable structure control,Feed forward,Sliding mode control | Conference |
Volume | Issue | Citations |
1992 | 1 | 2 |
PageRank | References | Authors |
0.49 | 7 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Almerico Fedele | 1 | 2 | 0.49 |
| Antonio Fioretti | 2 | 2 | 0.49 |
| Giovanni Ulivi | 3 | 242 | 22.77 |