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The Control Algorithm of 7 DOF Manipulator Based on Hybrid Force and Position Algorithm
Chang J(常健); Li B(李斌); Zhang GW(张国伟); Liang ZD(梁志达)
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码645-650
收录类别EI ; CPCI(ISTP)
EI收录号20183905873434
WOS记录号WOS:000447628700118
产权排序1
ISBN号978-1-5386-0489-2
关键词Hybrid Position And Force Control Redundancy Dof Manipulator Inverse Dynamics Slave Coordinate Established
摘要

This paper presents a method for hybrid force/position control for rigid robot manipulators. Through establishing precise kinematic and dynamic models, the motion characteristics of robot arm can be obtained. The problems of inverse dynamic can be solved by combination of gradient descent method and fixed angle method. By establishing model of hybrid force/position and slave coordinate system, the terminal track of the manipulator can be planned according to the force and position restriction. Aimed to environment condition restriction for the control algorithm, the algorithm of redundant DOF model setting has been proposed to make the manipulator end move on the random curved surface. By simulation analysis and experiment verified, the algorithm we proposed can perform better in path planning of the manipulator terminal.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22848
专题机器人学研究室
通讯作者Chang J(常健)
作者单位State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang 110016, China
推荐引用方式
GB/T 7714
Chang J,Li B,Zhang GW,et al. The Control Algorithm of 7 DOF Manipulator Based on Hybrid Force and Position Algorithm[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:645-650.
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