Hybrid position, posture, force and moment control with impedance characteristics for robot manipulators

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components...

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Bibliographic Details
Main Authors: Yu Yao, Qingjiu Huang, Yan Peng, Oiwa, T.
Format: Conference Proceeding
Language:English
Subjects:
6-DOF robot manipulator
Aerospace electronics
dynamic modeling
Force
hybrid control
impedance characteristics
Interference
Manipulator dynamics
Mathematical model
surface contact work
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Summary:There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2011.5986310