Force/Position Hybrid Control for a Hexa Robot Using Gradient Descent Iterative Learning Control Algorithm
This paper presents an approach of the force/position hybrid control for a hexa parallel robot to guarantee a safe and accurate interaction when touching the object surface. A double-loop PID controller is proposed to replace the common PID controller in the position control to eliminate position er...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8726373/ |