Abstract
In order to solve numerous problems encountered in the control of the constrained motion task of robots, an adaptive implicit hybrid position/force control scheme has been proposed. In the paper this scheme is briefly presented and various implementation problems are discussed. The improvement of the scheme by introduction of additional explicit force feedback loop are considered. The proposed scheme is applied for robot deburring process in which contact force behaves as a damping force.
On leave from ‘M.Pupin’ Institute, Beograd
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© 1993 Springer-Verlag London Limited
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Stokić, D.M., Šurdilović, D.T. (1993). An adaptive implicit hybrid position force control of robots: Implementation problems. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031442
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DOI: https://doi.org/10.1007/BFb0031442
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