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

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Pages (from-to)	133-143
Number of pages	11
Journal	Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory
Volume	40
Issue number	3
Publication status	Published - May 1986

Cite this

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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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.

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HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

Abstract

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