Constrained Motion Control of Manipulation Robots – A Contribution

Abstract

SUMMARY The problems concerning the control of constrained motion of manipulation robots are discussed in the paper. Two general problems of hybrid position/force control are considered: the problem of interaction between position and force control and the problem of contact between a robot and an environment. Some promising solutions to these problems are identified. It is shown that adaptive control is necessary to solve these problems. A new control scheme is proposed and results of computer simulations are presented