IEEE Transactions on Systems Man and Cybernetics · 1982 · 82 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsForce ControlJacobian MatricesManipulator ControlMotion ControlRobot ManipulationRobot ManipulatorsDegrees Of FreedomForce Control In RoboticsFrictionInternal FrictionManipulator KinematicsManipulator Motion ControlPosition ControlRobot Motion Control
A new Cartesian position control called resolved motion force control (RMFC) has been developed for robot manipulator. It adapts force convergence concept to control the Cartesian force and position instead of classical joint control. In this way, the changing configurations, gravity loading, and internal friction of the manipulator can be automatically compensated. Also, the method only uses the Jacobian transpose matrix such that it is applicable to more than six degrees-of-freedom manipulator without increasing the computational burden.
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