System for hybrid position and force control

Details System for hybrid position and force control System for hybrid position and force control

1993-05-10

1994-01-04

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318561, 31856811, 395 97, 901 9, 901 18, G05B 1942

Patent

active

052763900

ABSTRACT:
A hybrid position and force control system for a robotic manipulator. A displacement error signal of an end effector such as a robotic hand is multiplied by a pseudo-inverse of a matrix product of a selection matrix and a Jacobian matrix to provide a joint displacement error signal in the coordinates of the various joints of the manipulator. The system may be tuned for obstacle avoidance and the like by means of a joint tuning signal having displacement and force components each produced by multiplying a user-provided tuning signal by a matrix difference between an identity matrix and a matrix product of a pseudo-inverse of the Jacobian mattrix and the Jacobian matrix.

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