Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A study on two dimensional hybrid control by the relative motion between a robot manipulator and a workpiece

로봇 매니퓰레이터와 공작물의 상대운동에 의한 위치와 힘의 2차원 하이브리드 제어에 관한 연구

  • 진상호 (두원공업전문대학 기계과)
  • Published : 1998.02.01
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Abstract

A hybrid control method based on 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 method is illustrated through several simulations.

Keywords

References

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