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RoManSy 9 pp 160–169Cite as

An adaptive implicit hybrid position force control of robots: Implementation problems

  • Part 4 Control Of Motion
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 187))

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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References

  1. Stokić D., Vukobratović M., Vujić D., Rodić A., Šurdilović C., "Dynamic Models in Símulation and Synthesis of Position/Force Control of Robots", Proc. of th CISM-IFToMM Symposium Ro. Man. Sy. '90, Cracow. 1990

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  6. Stokić D., "Position/Force Control of Industrial Robots: Implementation Problems", Report for Fraunhofer Institute — IPK, Berlin, 1990.

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  7. Stokić D., M. Vukobratović, D. Šurdilović, "An Adaptive Hybrid Control Scheme for Manipulation Robots with Implicit Force Control", Proc. of the ICAR Symp., Piza, 1991

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Author information

Authors and Affiliations

  1. ISYTEC-Institut für angewandte Systemtechnik-Bremen, Wienerstr.1, 28000, Bremen 331

    Dragan M. Stokić

  2. Fraunhofer Institute IPK-Berlin, Pascalstrasse 8–9, 1000, Berlin 10

    Dragoljub T. Šurdilović

Authors
  1. Dragan M. Stokić
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  2. Dragoljub T. Šurdilović
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Editor information

A. Morecki G. Bianchi K. Jaworek

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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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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19834-5

  • Online ISBN: 978-3-540-39315-3

  • eBook Packages: Springer Book Archive

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