A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

This paper proposes a robust hybrid position/force control (HPFC) system for multi-degree of freedom manipulators (MDoFMs) with torque constraints on each joint. General HPFC systems can control the interactive contact forces and positions of manipulators in various environments. In HPFC systems, to...

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Bibliographic Details
Main Authors: Takashi Ohhira, Keinosuke Yokota, Shuichi Tatsumi, Toshiyuki Murakami
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Force control
manipulators
optimal control
position control
predictive control
Online Access:https://ieeexplore.ieee.org/document/9355132/

Internet

https://ieeexplore.ieee.org/document/9355132/

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