Coordinated Hybrid Force/Position Control for Robot with Three Branches

被引：0
|
作者：
Cao, Liufang [1 ]
Jia, Qingxuan [1 ]
Chen, Gang [1 ]
Zhang, Long [1 ]
Sun, Hanxu [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100088, Peoples R China
来源：
PROCEEDINGS OF THE 2015 10TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS | 2015年
关键词：
coordinated control; internal force; robot with three branches; dynamics; master-slave control;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents a coordinated hybrid force/position control method for robot with three branches (two arms and a coupled torso). To design the control system, the dynamic model of the robot is established. Then based on the dynamic model, a control algorithm which considers both the motion and the internal force of the manipulated object is proposed. The algorithm views the object as part of the end link of the arms, and adopts master-slave control method to transfer the control of the object to the synchronous control of the arms and torso. Finally, a simulation of a robot with a 2-DOF coupled torso and two 7-DOF arms verifies the proposed method.
引用
收藏
页码：955 / 960
页数：6
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