A Hybrid Force Following Controller For Multi-Scale Motions

Title data

Stolka, Philipp ; Henrich, Dominik:
A Hybrid Force Following Controller For Multi-Scale Motions.
In: SYROCO 2003 : 7th IFAC Symposium on Robot Control. - Wroclaw, Poland , 2003 . - pp. 247-252
DOI: https://doi.org/10.1016/S1474-6670(17)33401-8

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Abstract in another language

In many robotic applications, the teaching of points in space is necessary to register the robot coordinate system with the one of the application. Robot-human interaction is awkward and dangerous for the human because of the possibly large size and power of the robot, so robot movements must be predictable and natural. We present a novel hybrid control algorithm which provides the needed precision in small scale movements while allowing for fast and intuitive large scale translations.