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Volume 15 Issue 6
Oct.  2021
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Article Contents
Luo Fei, Yu Datai, Sun Yikang. Learning Hybrid Position/Force Control and Its Application[J]. Chinese Journal of Engineering, 1993, 15(6): 605-609. doi: 10.13374/j.issn1001-053x.1993.06.012
Citation: Luo Fei, Yu Datai, Sun Yikang. Learning Hybrid Position/Force Control and Its Application[J]. Chinese Journal of Engineering, 1993, 15(6): 605-609. doi: 10.13374/j.issn1001-053x.1993.06.012

Learning Hybrid Position/Force Control and Its Application

doi: 10.13374/j.issn1001-053x.1993.06.012
  • Received Date: 1993-09-18
    Available Online: 2021-10-18
  • This paper combines the robot position/force hybrid control algorithm proposed by Raibert and Craig and the robot dynamic hybrid control algorithm proposed by Yoshikawa. Taking account of the difficulty to identify the environment, especially the effect of mechanical disturbance, and the vibrations of mechanism, a PI learning hybrid control algorithm for using robot to do assembly task was presented. This algorithm was realized in a peg insertion by a three DOF robot. The experiment results showed that this algorithm could effectly realize the peg-and-hole task, and restrain and weaken the vibrations of mechanism.

     

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      沈陽化工大學材料科學與工程學院 沈陽 110142

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