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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)
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages645-650
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873434
WOS IDWOS:000447628700118
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordHybrid Position And Force Control Redundancy Dof Manipulator Inverse Dynamics Slave Coordinate Established
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22848
Collection机器人学研究室
Corresponding AuthorChang J(常健)
AffiliationState Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang 110016, China
Recommended Citation
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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