Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

International Journal of Advanced Robotic Systems

关键词: controur tracking;    hybrid force/velocity control;    gain scheduling;    industrial robots;   

DOI  :  10.5772/5717

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.

【 授权许可】

CC BY