Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866917744074555392 |
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| author | Ojha, Sagar Leodler, Karl Barbieri, Lou Wu, TseHuai |
| author_facet | Ojha, Sagar Leodler, Karl Barbieri, Lou Wu, TseHuai |
| contents | This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired position, orientations and rates. When contacting an obstacle or target object, the force module of the controller restricts the manipulator movements with a novel force exertion method, which prevents damage to the manipulator, the end-effector, and the objects during the contact or collision. The core strategy presented in this paper is to design the linear acceleration for the end-effector which ensures both trajectory tracking and restriction of any contact force at the end-effector. The design of the controller is validated through numerical simulations and digital twin validation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_04106 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator Ojha, Sagar Leodler, Karl Barbieri, Lou Wu, TseHuai Robotics Dynamical Systems This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired position, orientations and rates. When contacting an obstacle or target object, the force module of the controller restricts the manipulator movements with a novel force exertion method, which prevents damage to the manipulator, the end-effector, and the objects during the contact or collision. The core strategy presented in this paper is to design the linear acceleration for the end-effector which ensures both trajectory tracking and restriction of any contact force at the end-effector. The design of the controller is validated through numerical simulations and digital twin validation. |
| title | Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator |
| topic | Robotics Dynamical Systems |
| url | https://arxiv.org/abs/2408.04106 |