Application of the robotic dynamic force/position control on unknown path tracking

摘要

For the application of robot manipulators to path tracking, it is necessary to control not only the position of a manipulator but also the force exerted by the hand on an object. This paper introduces dynamic control for the task that is to control the manipulator and let the end-effector follow an unknown path on a workpiece. The design method consists of two steps. The first step is decomposition and linearization of a robotic system. The second step is the compensator of position/force, disturbance, model error and acceleration. With this formulation, the tracking control problem is naturally expressed in terms of the constrained dynamic system. A detailed example illustrates the proposed method.