Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2013.6584216
Title: General framework of the force and compliant motion control for macro mini manipulator
Authors: Arifin, A.S.
Ang, M.H. 
Lai, C.Y.
Lim, C.W.
Issue Date: 2013
Source: Arifin, A.S.,Ang, M.H.,Lai, C.Y.,Lim, C.W. (2013). General framework of the force and compliant motion control for macro mini manipulator. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 : 949-954. ScholarBank@NUS Repository. https://doi.org/10.1109/AIM.2013.6584216
Abstract: This paper introduces a general control framework for macro mini manipulator to improve the force and compliant motion control of robotic manipulators. RMRC (Resolved Motion Rate Control) is used as the controller for the industrial (macro) manipulator, while a switching between position control and force control is applied for the mini. The algorithm shows that it can work well in searching and contacting the workpiece, even with limited information of the location of the workpiece. It is also suitable for the compliant motion when it deals with an unknown contour of the workpiece. The framework is validated through experiments which utilize 7-DOF Mitsubishi PA-10 as the macro manipulator and 1-DOF voice coil as the mini manipulator. © 2013 IEEE.
Source Title: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
URI: http://scholarbank.nus.edu.sg/handle/10635/73490
ISBN: 9781467353199
DOI: 10.1109/AIM.2013.6584216
Appears in Collections:Staff Publications

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