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Hybrid position/force control of manipulatorsA new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The 'hybrid' technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller's ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.
Document ID
19810036682
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Raibert, M. H.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Craig, J. J.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 11, 2013
Publication Date
November 1, 1980
Subject Category
Cybernetics
Report/Patent Number
ASME PAPER 80-WA/DSC-23
Meeting Information
Meeting: Winter Annual Meeting of the American Society of Mechanical Engineers
Location: Chicago, IL
Start Date: November 16, 1980
End Date: November 21, 1980
Sponsors: American Society of Mechanical Engineers
Accession Number
81A21086
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other

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