대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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- Pages.575-578
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- 1995
PUMA형 로보트 머니플레이터의 강인한 위치/힘 혼합제어
Robust Hybrid Position/Force Control of a PUMA-Like Robot Manipulator
- Park, Jae-Wook (Soongsil Univ.) ;
- Lee, Gun-Bok (Soongsil Univ.)
- 발행 : 1995.11.18
초록
In general, the control of robot manipulator is classified into position control and force control. Position controllers give adequate performance when a manipulator is following a trajectory through space and end-effector has no contact with environment. However for most tasks performed by robot manipulator in industry, contact is made between the end-effector and manipulator's environment, so position control may not suffice. The objective of this study is to control both position of a manipulator and the contact forces generated at the hand by using a conceptually simple control law. Position and force control problem is decoupled into subtasts via taskspace formulation and inverse dynamics. Then, the position controllers are designed for the task space variable which represent tangent motion and the forte controllers are designed for the lash space variables which represent normal force.
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