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초록
영어
In this paper, a nonlinear hybrid position/force control is designed for a constrained two degrees of freedom robot. System dynamics is formulated based on Lagrange-Euler approach. Our objective is to control separately the movement of the robot and its contact forces. The contact force is obtained via the inverse dynamics with dynamic frictional force. Force control is realized through a virtual desired position of the end effector. Simulation results give satisfactory outcomes and proof the efficiency of the proposed hybrid control concept.
목차
Abstract
1. Introduction
2. Dynamics’ Model of the Constrained Robotic System
3. Dynamics of the End Effector
3.1. Contact Force Projections
3.2. Normal Contact Force’s Formulation
3.3. Frictional Force Modeling
4. Constrained Robot’s Hybrid Control
4.1. Position Control
4.2 Force Control
4.3 Equilibrium Study
4.4. Hybrid Position/Force Control Strategy
4.5Stability analysis
5. Simulation Results and Discussion
6. Conclusion
APPENDIX
References
1. Introduction
2. Dynamics’ Model of the Constrained Robotic System
3. Dynamics of the End Effector
3.1. Contact Force Projections
3.2. Normal Contact Force’s Formulation
3.3. Frictional Force Modeling
4. Constrained Robot’s Hybrid Control
4.1. Position Control
4.2 Force Control
4.3 Equilibrium Study
4.4. Hybrid Position/Force Control Strategy
4.5Stability analysis
5. Simulation Results and Discussion
6. Conclusion
APPENDIX
References
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