文章基本信息

标题：Modified Position-Force Control for a Manipulator Geometrically Constrained by Round Obstacles
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作者：Alicja Mazur ; Mirela Kaczmarek ; Joanna Ratajczak 等
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2019
卷号：13
期号：2
页码：60-66
DOI：10.14313/JAMRIS/2-2019/19
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper addresses the problem of posi􀆟on-force controlfor robot manipulators under geometric endpoint constraintsde􀄮ned as round obstacles. 􀀒onsidera􀆟ons arebased on h􀇇brid posi􀆟on-force control and use modi􀄮edArimoto algorithm with the principle of ”orthogonalisa-􀆟on”. 􀁤o achieve so-called 􀅩oint space orthogonalisa􀆟on􀍕where mo􀆟on signals are orthogonal to force vectors andthe direc􀆟on selec􀆟on is performed in the 􀅩oint space􀍕pro􀅩ec􀆟on matri􀇆 is u􀆟li􀇌ed. 􀁤he convergence of trac􀅬ingand force errors is proved.
关键词：manipulator􀍕 posi􀆟on-force control􀍕 principle;of orthogonalisa􀆟on􀍕 h􀇇brid control