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Hybrid Position, Posture, Force and Moment Control for High-Speed and High-Precision Surface Contact Work of Robot Manipulators

Qingjiu Huang


There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator.

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QingJiu Huang, Ryota Enomoto, Xuedong Chen, Hybrid Position, Posture, Force and Moment Control of Robot Manipulators, Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics, pp. 1444 – 1450, 2008.

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