제어로봇시스템학회:학술대회논문집
- 1991.10a
- /
- Pages.174-178
- /
- 1991
Motion and force control of robot manipulator
로보트 매니퓰레이터의 운동과 힘 제어
Abstract
In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.
Keywords