Abstract
This paper presents hybrid position/force control for dualarm cooperation without using any force/torque sensor. The control uses only motor current as force/torque information and exploits motor back-drivability. A key technique in this control is compensation of friction at the motors, for which this paper presents a new method named dithered measurement. Experiments in the paper show that this method works well in order to implement dependable force control.
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References
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© 2000 Springer-Verlag London Limited
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Uchiyama, M., Tanno, Y., Miyawaki, K. (2000). Implementation of dual-arm cooperative control by exploiting actuator back-drivability. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119425
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DOI: https://doi.org/10.1007/BFb0119425
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Publisher Name: Springer, London
Print ISBN: 978-1-85233-210-5
Online ISBN: 978-1-84628-541-7
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