The Hybrid Position and Force Control of Robots with Compliance Function

被引：0
|
作者：
Vladareanu, Luige [1 ]
Ion, Ion [2 ]
Diaconescu, Eugen [3 ]
Tont, Gabriela [4 ]
Velea, Lucian M. [5 ]
Mitro, Daniel [6 ]
机构：
[1] Romanian Acad, Inst Solid Mech, C Tin Mille 15, Bucharest 1, Romania
[2] Politechn Univ Bucharest, Bucharest 5, Romania
[3] Univ Pitesti, Pitesti, Romania
[4] Univ Oradea, Oradea 410087, Romania
[5] Ind Engn & Technol VTC Srl, Bucharest 6, Romania
[6] Natl Univ Res Council, Bucharest 5, Romania
来源：
MACMESE 2008: PROCEEDINGS OF THE 10TH WSEAS INTERNATIONAL CONFERENCE ON MATHEMATICAL AND COMPUTATIONAL METHODS IN SCIENCE AND ENGINEERING, PTS I AND II | 2008年
关键词：
real-time digital processing; hybrid position-force control; compliance function; multi-microprocessor system;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper shows a new method for the hybrid position-force control of robots with compliance function on six axis of freedom degrees in system multi-microprocessor in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory of the robot. Related to this there is presented an Open Architecture system for the robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of robot's position in Cartesian coordinates and increased flexibility.
引用
收藏
页码：384 / +
页数：2
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