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Title: On the formulation of parallel position/force control schemes for industrial manipulators
Authors: Dede, Mehmet İsmet Can
Özgören, M. Kemal
Keywords: Industrial manipulators
Impedance control
Admittance control
Hybrid conrol
Position/Force control
Publisher: Shaker Verlag
Source: Dede, M. İ. C., and Özgören, M. K. (2012). On the formulation of parallel position/force control schemes for industrial manipulators. In A. Graeser, and D. Ristic-Durrant (Eds.). Paper presented at the Methods and applications in automation proceedings of the 32nd and 33rd Colloquium of Automation, Leer, Germany (pp. 79-90). Aachen: Shaker Verlag.
Abstract: In this paper, three commonly-used position/force control schemes namely Impedance, Admittance and Hybrid Position/Force control are investigated for use in industrial manipulators. In order to eliminate the instability problem that may occur in the customary versions of these schemes for large position errors, a modification is proposed, which is based on determining the joint-space position errors using inverse kinematic solutions rather than using the inverse Jacobian matrix. The feasibility of this modification relies on the fact that almost all of the industrial manipulators have easily obtainable inverse kinematic solutions. The simulation results showing the performance of the modified control schemes are also presented as applied on a Puma 560 manipulator.
ISBN: 978-3-8440-1322-1
Appears in Collections:Mechanical Engineering / Makina Mühendisliği

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