Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

摘要

Hybrid force-position control aims at controlling position and force in separate directions. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs. (Atomindex citation 28:031682)