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Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

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Author(s): Giacomo Ziliani | Antonio Visioli | Giovanni Legnani

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 3;
Issue: 4;
Date: 2008;
Original page

Keywords: controur tracking | hybrid force/velocity control | gain scheduling | industrial robots.

ABSTRACT
In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.
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