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Hybrid Position/Force Control of Robot ManipulatorsIn proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.
Document ID
19810000327
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Raibert, M. H.
(CALTECH)
Craig, J. J.
(CALTECH)
Date Acquired
August 11, 2013
Publication Date
December 1, 1982
Publication Information
Publication: NASA Tech Briefs
Volume: 6
Issue: 3
ISSN: 0145-319X
Subject Category
Machinery
Report/Patent Number
NPO-14997
Accession Number
81B10327
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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