Two dimensional hybrid control using the relative motion between the robot manipulator and a workpiece

로봇 매니퓰레이터와 공작물의 상대운동에 의한 위치/힘의 2차원 하이브리드 제어

A hybrid control method based on using the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control emthod is illustratec by some simulations.