Hybrid position/force control

• 主要作者: Wong, Kian Ann
• 格式: Final Year Project Report
• 语言: English; English
• 出版: Universiti Malaysia Sarawak (UNIMAS) 1999
• 主题: T Technology (General); TJ Mechanical engineering and machinery
• 在线阅读: http://ir.unimas.my/id/eprint/22730/1/Hybrid%20position-force%20control%20%2824%20pgs%29.pdf; http://ir.unimas.my/id/eprint/22730/4/WONG%20KIAN%20ANN%20%28fulltext%29.pdf; http://ir.unimas.my/id/eprint/22730/

This project report presents a hybrid control scheme controlling the joint position and Cartesian contact force of a robot manipulator with inner computed-torque feedforward loop. The control scheme consists of two controllers: the proportional plus derivative position controller and the proportion...