Modified position-force control for a manipulator geometrically constrained by round obstacles

• Autorzy: Mazur Alicja , Kaczmarek Mirela , Ratajczak Joanna , Domski Wojciech

Identyfikatory

DOI

10.14313/JAMRIS/2-2019/19

• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.

Słowa kluczowe

EN

manipulator; position-force control; principle of orthogonalisation; hybrid control

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 2
• Strony: 60--67
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Mazur Alicja

• Department of Cybernetics and Robotics, Faculty of Electronics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland, www: weka.pwr.edu.pl/pracownicy/alicja-mazur

autor

Kaczmarek Mirela

• Department of Cybernetics and Robotics, Faculty of Electronics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Ratajczak Joanna

• Department of Cybernetics and Robotics, Faculty of Electronics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Domski Wojciech

• Department of Cybernetics and Robotics, Faculty of Electronics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).