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Hybrid Position/Force Control of Manipulators
Abstract
A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The “hybrid” technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller’s ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.
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Citations
Cited by
Articulated Hands: Force Control and Kinematic Issues
Salisbury, J. K., & Craig, J. J. (1982) · The International Journal of Robotics Research · doi:10.1177/027836498200100102 · Cited by 1,544
Self-citationCompliance and Force Control for Computer Controlled Manipulators
Mason, M. T. (1981) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1981.4308708 · Cited by 1,542
Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., & Hutter, M. (2019) · Science Robotics · doi:10.1126/scirobotics.aau5872 · Cited by 1,482
Modeling piezoelectric stack actuators for control of micromanipulation
(1997) · IEEE Control Systems · doi:10.1109/37.588158 · Cited by 668
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Jung, S., Hsia, T. C., & Bonitz, R. G. (2004) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2004.824320 · Cited by 478
Metadata
- Authors
- Raibert, M. H., & Craig, J. J.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1981-06-01
- Volume
- 103
- Issue
- 2
- Pages
- 126-133
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2016958754
- Cited by
- 3,015
- References
- 0
- FWCI
- 35.09
- Type
- journal article
- Language
- en
- Open access
- closed
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- Raibert, M. H., & Craig, J. J. (1981). Hybrid Position/Force Control of Manipulators. Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3139652
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
