Abstract
In this chapter we present some issues on the hybrid control of robot manipulators taking as an example the IRp-6 robot. The considerations discussed in this chapter are restricted to the robots which are equipped with position controllers. The IRp-6 robot belongs to this type of robots. In general the experimental set-up described in Chapter 2 allows us to examine this kind of control. We developed the necessary tools such as a straight line trajectory planning in Cartesian space and data acquisition system for collecting and analysing data from the force/torque sensor JR3 to realise the hybrid control of the IRp-6 robot. Examples presented here show how an industrial robot with all its limitations and restrictions can be used for the purposes of advanced control.
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© 1998 Springer-Verlag London
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Kozlowski, K. (1998). Hybrid control of the IRp-6 robot. In: Modelling and Identification in Robotics. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-4471-0429-2_7
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DOI: https://doi.org/10.1007/978-1-4471-0429-2_7
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1139-9
Online ISBN: 978-1-4471-0429-2
eBook Packages: Springer Book Archive