Unified motion and force control for redundant large scale manipulators
In: Submitted to the Twelfth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (Ro.Man.Sy. ´98)
Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany (1998)
Buchaufsatz / Kapitel / Fach: Maschinenbau
The control systems of redundant large scale manipulators have been up until now rather primitive, applying in many cases single joint control. However, for many tasks like cleaning aeroplancs, repairing and cleaning buildings or other complicated manipulation tasks it is necessary to take into account end-effector position, orientation and force during motion in the three dimensional workspace. For this a unified motion and force control is used. In this paper, two different control methods for this purpose are presented. Whereas the first concept is an appropriate formulation of the equations of motion corresponding to the manipulator task. Both methods will be compared with respect to transferability to other problems and their easy formulation of manipulator tasks.