마찰이 있는 조립작업을 위한 동일 방향 혼합위치/힘 제어 Hybrid Position/ Force Control in the Same Direction for Assembly Operation in Variable Friction Environment

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This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.
Issue Date
1997-10-17
Language
KOR
Citation

Proceedings of the 12th Korea Automatic Control Conference, pp.253 - 256

URI
http://hdl.handle.net/10203/124806
Appears in Collection
ME-Conference Papers(학술회의논문)
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