HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

Tatsuo Arai; Eiji Nakano; Tomoaki Yano; Ryoichi Hashimoto

HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

Tatsuo Arai^*, Eiji Nakano, Tomoaki Yano, Ryoichi Hashimoto

^*此作品的通讯作者

机电学院

科研成果: 期刊稿件 › 文章 › 同行评审

摘要

In complex tasks such as sewing or assembly, where a robot has a mechanical interaction with its environments, we cannot expect to get a good result only by using the conventional positioning control of the robot. In this paper we will propose a hybrid control method which can control both position and force of the manipulator in the given task-oriented coordinates. We can expect to have a good task quality by using this method compared with the conventional positioning control.

源语言	英语
页（从-至）	133-143
页数	11
期刊	Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory
卷	40
期	3
出版状态	已出版 - 5月 1986

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Arai, T., Nakano, E., Yano, T., & Hashimoto, R. (1986). HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION. Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory, 40(3), 133-143.

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abstract = "In complex tasks such as sewing or assembly, where a robot has a mechanical interaction with its environments, we cannot expect to get a good result only by using the conventional positioning control of the robot. In this paper we will propose a hybrid control method which can control both position and force of the manipulator in the given task-oriented coordinates. We can expect to have a good task quality by using this method compared with the conventional positioning control.",

author = "Tatsuo Arai and Eiji Nakano and Tomoaki Yano and Ryoichi Hashimoto",

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AU - Arai, Tatsuo

AU - Nakano, Eiji

AU - Yano, Tomoaki

AU - Hashimoto, Ryoichi

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N2 - In complex tasks such as sewing or assembly, where a robot has a mechanical interaction with its environments, we cannot expect to get a good result only by using the conventional positioning control of the robot. In this paper we will propose a hybrid control method which can control both position and force of the manipulator in the given task-oriented coordinates. We can expect to have a good task quality by using this method compared with the conventional positioning control.

AB - In complex tasks such as sewing or assembly, where a robot has a mechanical interaction with its environments, we cannot expect to get a good result only by using the conventional positioning control of the robot. In this paper we will propose a hybrid control method which can control both position and force of the manipulator in the given task-oriented coordinates. We can expect to have a good task quality by using this method compared with the conventional positioning control.

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AN - SCOPUS:0022717187

SN - 0388-4252

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JO - Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory

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HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

摘要

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