대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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- Pages.308-310
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- 1994
하이브리드 위치/힘 제어방법에 의한 로봇 매니퓰레이터의 제어에 관한 연구
A Study on Control of Robot Manipulator by Hybrid Position / Force Control
- Kim, Hyun-Suk (Dept. of Control & Instrumentation Eng. AJOU University) ;
- Gil, Jin-Soo (Dept. of Electronics Eng., AJOU University) ;
- Han, Sang-Wan (Dept. of Electronics Eng., AJOU University) ;
- Hong, Suk-Kyo (Dept. of Control & Instrumentation Eng. AJOU University)
- 발행 : 1994.11.18
초록
Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.
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