This paper presents a new manipulation theory for controlling compliant motions of a robotic manipulator. In previous closed loop control methods, both direct kinematics and inverse kinematics of a manipulator must be resolved to convert feedback force and position data from Cartesian space to joint space. However, in many cases, the solution of direct kinematics in a parallel manipulator or the solution of inverse kinematics in a serial manipulator is not easily available. In this study, the force and position data are packed into one set of “motion feedback,” by replacing the force errors with virtual motion quantities, or one set of “force feedback,” by replacing motion errors with virtual force quantities. The joint torques are adjusted based on this combined feedback package. Since only Jacobian of direct kinematics or Jacobian of inverse kinematics is used, the computational complexity is reduced significantly, and the control scheme is more stable at or near singular manipulator configurations. Furthermore, the complexities and oddities associated with hybrid control, such as nonuniformity of the space matrix and incompatibility of simultaneous position and force control in the same direction are circumvented. The applications of this theory are demonstrated in simulation experiments with both serial and parallel manipulators.
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e-mail: dgiblin@engr.uconn.edu
e-mail: z.mu@genaissance.com
e-mail: kazem@engr.uconn.edu
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March 2007
Research Papers
Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators
David J. Giblin,
David J. Giblin
Graduate Student
Department of Mechanical Engineering,
e-mail: dgiblin@engr.uconn.edu
University of Connecticut
, Storrs, CT 06269
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Mu Zongliang,
Mu Zongliang
Graduate Student
Department of Mechanical Engineering,
e-mail: z.mu@genaissance.com
University of Connecticut
, Storrs, CT 06269
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Kazem Kazerounian,
Kazem Kazerounian
Professor
Fellow ASME
Department of Mechanical Engineering,
e-mail: kazem@engr.uconn.edu
University of Connecticut
, Storrs, CT 06269
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ZhongXue Gan
ZhongXue Gan
Manager
Search for other works by this author on:
David J. Giblin
Graduate Student
Department of Mechanical Engineering,
University of Connecticut
, Storrs, CT 06269e-mail: dgiblin@engr.uconn.edu
Mu Zongliang
Graduate Student
Department of Mechanical Engineering,
University of Connecticut
, Storrs, CT 06269e-mail: z.mu@genaissance.com
Kazem Kazerounian
Professor
Fellow ASME
Department of Mechanical Engineering,
University of Connecticut
, Storrs, CT 06269e-mail: kazem@engr.uconn.edu
ZhongXue Gan
Manager
J. Mech. Des. Mar 2007, 129(3): 326-333 (8 pages)
Published Online: February 28, 2006
Article history
Received:
May 16, 2005
Revised:
February 28, 2006
Citation
Giblin, D. J., Zongliang, M., Kazerounian, K., and Gan, Z. (February 28, 2006). "Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators." ASME. J. Mech. Des. March 2007; 129(3): 326–333. https://doi.org/10.1115/1.2406104
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