Modified Position-Force Control for a Manipulator Geometrically Constrained by Round Obstacles

Alicja Mazur, Mirela Kaczmarek, Joanna Ratajczak, Wojciech Domski
2019 Journal of Automation, Mobile Robotics & Intelligent Systems  
�his paper addresses the problem of posi�on-force control for robot manipulators under geometric endpoint constraints de�ned as round obstacles. �onsidera�ons are based on h�brid posi�on-force control and use modi�ed Arimoto algorithm with the principle of "orthogonalisa-�on". �o achieve so-called �oint space orthogonalisa�on� where mo�on signals are orthogonal to force vectors and the direc�on selec�on is performed in the �oint space� pro�ec�on matri� is u�li�ed. �he convergence of trac�ing
more » ... force errors is proved. Keywords: manipulator� posi�on-force control� principle of orthogonalisa�on� h�brid control
doi:10.14313/jamris/2-2019/19 fatcat:7sb72xgmancc5dtx72nnhne5xu