文章基本信息

标题：Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task
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作者：Giacomo Ziliani
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：4
DOI：10.5772/5717
出版社：SAGE Publications
摘要：In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.
关键词：controur tracking ; hybrid force/velocity control ; gain scheduling ; industrial robots