Open Access
Hybrid Position/Force Control of Robot Manipulators
M. H. Raibert,J. J. Craig +1 more
- Vol. 6, Iss: 3
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TLDR
In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates.Abstract:
In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.read more
Citations
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Proceedings ArticleDOI
Design of the Utah/M.I.T. Dextrous Hand
TL;DR: The Center for Engineering Design at the University of Utah, and the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology have developed a robotic end effector intended to function as a general purpose research tool for the study of machine dexterity.
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Adaptive variable impedance control for dynamic contact force tracking in uncertain environment
TL;DR: The proposed adaptive variable impedance control for force tracking has the capability to track the dynamic desired force and compensate for uncertainties in environment and can achieve better force tracking performance than the constant impedance control.
Proceedings ArticleDOI
Force control of robot manipulators
TL;DR: The state of the art of force control for robot manipulators is surveyed and an overview and a unified description of the two major approaches to force control are presented.
Journal ArticleDOI
An anthropomorphic robot finger for investigating artificial tactile perception
Paolo Dario,Giorgio Buttazzo +1 more
TL;DR: It was the primary aim in this work to set up the hardware and software tools necessary for investigating basic issues in artificial tactile perception, and the design, implementation, and testing of an artificial tactile sensing system incorporating an articulated robot finger are presented.
Journal ArticleDOI
Precise Position/Force Hybrid Control With Modal Mass Decoupling and Bilateral Communication Between Different Structures
TL;DR: It is found that haptic communication system is a kind of position/force hybrid control system and that it is not necessary to follow that assumption, and a novel hybrid controller is proposed for the decoupling of the responses.