Extended hybrid control of redundant robotic manipulators: theory and implementation.

摘要

In this paper, an approach, termed extended hybrid control, is presented to control robotic manipulators with kinematic redundancy in constraint motion operation. In the proposed approach, the manipulator redundancy is utilized to accomplish an appropriate additional task, while the position and force tasks are achieved. A parallel algorithm is derived and a multiprocessor robot controller is constructed by utilizing the INMOS transputer T800. Some experimental results on a 3-DOF planar redundant manipulator are also presented. The sampling period of 1.0ms is achieved, and the experimental results validate the extended hybrid control scheme and demonstrate its capabilities for performing various tasks.