RESEARCH PAPERS: Papers on Control of Robotic Devices

Hybrid Position/Force Control of Manipulators

[+] Author and Article Information
M. H. Raibert, J. J. Craig

Jet Propulsion Laboratory, California Institute of Technology, Pasadena, Calif. 91103

J. Dyn. Sys., Meas., Control 103(2), 126-133 (Jun 01, 1981) (8 pages) doi:10.1115/1.3139652 History: Received February 25, 1981; Online July 21, 2009


A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The “hybrid” technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller’s ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.

Copyright © 1981 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In