The position/force control with self-adjusting select-matrix for robot manipulators

• DOI: 10.1109/robot.2001.933230
• Publication Date: 2002-11-13T16:02:21Z
• Authors: Hui Zhang; Zhiqiang Zhen; Qing Wei; Wenseng Chang
• Keywords: Position (finance); Impedance Control; Mode (computer interface); Contact force; Matrix (chemical analysis)

In order to do the complex contact task, robot manipulator must have force control ability. this paper, we propose a new method compliant motion of manipulator: position/force with self-adjusting select-matrix. This not only uses information in feedback loop, but also it select matrix, let controller automatic switch between mode and position mode. Thus, has advantage accurate hybrid results, as well impedance for using explicit Experimental results verify theory confirm effectiveness method.