In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.
No takes yet. Share an insight, caveat, or question.
Ziliani et al. (2006) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: