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On the Invariance of the Hybrid Position/force Control by A. Abbati-Marescotti; C. Bonivento; C. Melchiorri is a Engineering article available to read on EtoBox.

What is On the Invariance of the Hybrid Position/force Control about?

Recently, the noninvariance nature of the Raibert and Craig hybrid control scheme, based on the work of Mason and others, has been pointed out. In fact, on the basis of the screw theory, Lipkin and Duffy demonstrated that the selection of the position and force controlled degrees of freedom in the Raibert and Craig scheme, may give wrong results if a translation or change in unit length of the coordinate frame is performed. A general theoretical solution to this problem, called 'kinestatic filtering', has been given by Lipkin and Duffy. In this paper, the two approaches are summarized and discussed. First, the conditions in which the Mason filtering technique fails are determined and, second, the situations where the Lipkin and Duffy approach cannot be applied owing to degeneracy of the twist and wrench spaces, are reported. As a consequence of this analysis, a new invariant kinestatic filtering method is proposed. The method here presented is based on the original Mason approach and requires the definition of a task-dependent filter based on the knowledge of the position of the compliant frame. Examples are presented and discussed.

Who reads On the Invariance of the Hybrid Position/force Control?

Author

A. Abbati-Marescotti; C. Bonivento; C. Melchiorri

Publisher

Springer Netherlands; Springer-Verlag; Kluwer Academic Publishers; Springer Science and Business Media LLC; Society for Mining, Metallurgy and Exploration Inc. (ISSN 0921-0296)

Published

1990

Language

EN

Field

Engineering (Physical Sciences)