1992 Volume 35 Issue 2 Pages 252-258
In this paper, position and force control of constrained motion of robotic manipulators is discussed. First, issues related to decoupling position and force-controlled directions are discussed. The fundamentals of estimation of contact forces without using force or torque sensors are then presented, and a control scheme for position and force control of robotic manipulators without force sensing is proposed. The extension of this scheme to redundant manipulators is also discussed. Finally, the proposed control scheme is implemented on a 3-DOF planar redundant manipulator, and some experimental results are presented to illustrate the validity of the control scheme.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing