제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.253-256
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- 1997
Hybrid position/force control in the same direction for assembly operation in variable friction environment
마찰이 있는 조립작업을 위한 동일 방향 혼합위치/힘 제어
Abstract
This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.
Keywords