{"title":"三自由度并联机械臂的位置/力混合运动控制","authors":"P. Huynh","doi":"10.1109/RAMECH.2004.1438923","DOIUrl":null,"url":null,"abstract":"The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-in-hole task about 10 /spl mu/m clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for the parallel-link manipulator. Assisted by a human operator, the motion is generated by using force-torque based joystick commands and/or preplanned motion data. In teleoperation mode, the human operator can intervene and superpose corrective motions over the preplanned searching motion.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Kinematic hybrid position/force control of a 3-DOF in-parallel actuated manipulator\",\"authors\":\"P. Huynh\",\"doi\":\"10.1109/RAMECH.2004.1438923\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-in-hole task about 10 /spl mu/m clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for the parallel-link manipulator. Assisted by a human operator, the motion is generated by using force-torque based joystick commands and/or preplanned motion data. In teleoperation mode, the human operator can intervene and superpose corrective motions over the preplanned searching motion.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"18 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438923\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438923","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic hybrid position/force control of a 3-DOF in-parallel actuated manipulator
The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-in-hole task about 10 /spl mu/m clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for the parallel-link manipulator. Assisted by a human operator, the motion is generated by using force-torque based joystick commands and/or preplanned motion data. In teleoperation mode, the human operator can intervene and superpose corrective motions over the preplanned searching motion.
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