Hybrid control of the IRp-6 robot
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In this chapter we present some issues on the hybrid control of robot manipulators taking as an example the IRp-6 robot. The considerations discussed in this chapter are restricted to the robots which are equipped with position controllers. The IRp-6 robot belongs to this type of robots. In general the experimental set-up described in Chapter 2 allows us to examine this kind of control. We developed the necessary tools such as a straight line trajectory planning in Cartesian space and data acquisition system for collecting and analysing data from the force/torque sensor JR3 to realise the hybrid control of the IRp-6 robot. Examples presented here show how an industrial robot with all its limitations and restrictions can be used for the purposes of advanced control.
KeywordsCoordinate Frame Euler Angle Hybrid Control Orientation Error Cartesian Space
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