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Development of a Hybrid Path/Force Control Architecture for an Assisting Robot

  • For human machine interaction a control ar chitecture for the force controlled guidance mode of a five axis robot is developed. This enables a human operator to move the robot easily by applying forces at th e end-effector. The position and th e path can then be tracked and stored for a later reuse. The control archit ecture is also used in a hybrid mode where it is possible to control chosen workspace coordinates with a path controller and others with a force controller. The hybrid mode is especially used to cut tissue material with a scalpel which is mounted at the robots effector.

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Metadaten
Author:Benjamin Großmann, Thomas SchleglORCiD
URL / DOI:http://www.jomac.it/data/uploads/freeissue/jomac14a.pdf
ISSN:1590-8844
Parent Title (English):International journal of mechanics and control : JoMaC
Publisher:Levrotto&Bella
Place of publication:Torino
Document Type:Article
Language:English
Year of first Publication:2014
Release Date:2022/11/24
Tag:assisting robot; force control; hybrid control; robotics
Volume:15
Issue:1
First Page:27
Last Page:34
Institutes:Fakultät Maschinenbau
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG