Hybrid position/force control

Wong, Kian Ann (1999) Hybrid position/force control. [Final Year Project Report] (Unpublished)

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Abstract

This project report presents a hybrid control scheme controlling the joint position and Cartesian contact force of a robot manipulator with inner computed-torque feedforward loop. The control scheme consists of two controllers: the proportional plus derivative position controller and the proportional plus velocity force controller. The controllers are designed based on the model reference control and orthogonal force/position constraints under the assumption of constant desired forces and slowly time-varying motion. Simulations studies performed on a 6 degree of freedom PUMA 560 robot model are presented.

Item Type:	Final Year Project Report
Additional Information:	Project report (B.Sc.) -- Universiti Malaysia Sarawak, 1999.
Uncontrolled Keywords:	Robot force control, hybrid control, robot manipulator, derivative position controller, unimas, university, universiti, Borneo, Malaysia, Sarawak, Kuching, Samarahan, ipta, education, Postgraduate, research, Universiti Malaysia Sarawak.
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery
Divisions:	Academic Faculties, Institutes and Centres > Faculty of Engineering Faculties, Institutes, Centres > Faculty of Engineering
Depositing User:	Gani
Date Deposited:	13 Dec 2018 06:19
Last Modified:	12 Mar 2024 05:12
URI:	http://ir.unimas.my/id/eprint/22730

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