Abstract

Virtual decomposition control approach is applied to two coordinated industrial manipulators KUKA361 and KUKA160 subject to a rigid unilateral constraint. In order to accommodate motion/force control with the rigid unilateral constraint, the required velocity is re-designed by introducing filtered contact forces in full control space. This provides the controlled robots with a hybrid control behavior in case of a known contact geometry and with an impedance control behavior in case of an unknown contact geometry. The experiment demonstrates bouncing-free rigid contact control stability and filtered force tracking capability, in addition to asymptotic motion tracking.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.