제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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- Pages.1577-1580
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- 1997
로봇 매니퓰레이터와 공작물의 상대운동에 의한 위치/힘의 2차원 하이브리드 제어
Two dimensional hybrid control using the relative motion between the robot manipulator and a workpiece
초록
A hybrid control method based on using the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control emthod is illustratec by some simulations.