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

@article{c4ca44fd33124dac865207d710edc66b,

title = "HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.",

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",

year = "1986",

month = may,

language = "English",

volume = "40",

pages = "133--143",

journal = "Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory",

issn = "0388-4252",

publisher = "Agency of Industrial Science and Technology",

number = "3",

}

TY - JOUR

T1 - HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

AU - Arai, Tatsuo

AU - Nakano, Eiji

AU - Yano, Tomoaki

AU - Hashimoto, Ryoichi

PY - 1986/5

Y1 - 1986/5

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.

UR - https://www.scopus.com/pages/publications/0022717187

M3 - Article

AN - SCOPUS:0022717187

SN - 0388-4252

VL - 40

SP - 133

EP - 143

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

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

IS - 3

ER -

HYBRID CONTROL OF MANIPULATOR AND ITS APPLICATION.

Abstract

Other files and links

Fingerprint

Cite this