Users Also Read
MCQ's Search Engine
Electrical Engineering
Mechanical Engineering
Civil Engineering
Automobile Engineering
Chemical Engineering
Computer Engineering
Electronics Engineering
Medical Science Engg
All Engineering Dictionary Terms
Definition of "hybrid position/force controller" |
a general hybrid position/force controller is presented in the figure. The hybrid controller consists of two subcontrollers. One is a position controller and the second is a force controller. Trajectory generator inputs a Cartesian path in terms of position, velocity, and acceleration. Fd is a desired external force associated with the task in Cartesian space. Matrix S is a selection matrix with ones and zeros on the diagonal. Where a one is present in S, a zero is present in S', and position control is in effect. It is assumed that joint positions, velocities, and accelerations are measured. Next they are transformed via kinematical computations to Cartesian positions, velocities, and accelerations. Desired and actual parameters are compared in position controller. Desired and measured forces are compared in force controller. Finally, manipulator is controlled at the joint force and/or torque level. |
Please type any word or choose alphabet below... |
A
B
C
D
E
F
G
H
I
J
K
L
M N O P Q R S T U V W X Y Z 1 2 3 4 5 6 7 8 9 0 |