148 Generalized robust position and force controller design method for robot manipulator: Y. Hori, pp 693–696
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 126 KB
- Volume
- 2
- Category
- Article
- ISSN
- 0967-0661
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✦ Synopsis
on force feedback, which employs a special strategy, is discussed in detail. Finally a further two manipulators, newly developed by the authors, are briefly introduced.
144 Intelligent Motion Pinnnlng and Control for Robot Arms Tj. Tam, A.K. BeJczy, Ning Xi, pp 677-680
A new planning and control scheme for robot arms is presented. First, the event-bused motion reference is introduced. Applying time and enersy q~imization techniques, an event-based trajectory can be obtained. A new event-based error definition and computation scheme has been introduced and combined with nonlinear feedback control law, which linearizes and deconples the controls in the task space. The scheme is also extended to mnltirobot coordination.
The event-based planning and control schemes were experimentally implemented and tested on two 6-DOF PUMA 560 robots, with very good results.