Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator

The purpose of this paper is to describe the results derived from an experimental study of dexterous manipulation using hybrid force and position control. The paper includes descriptions of the electrohydraulic master/slave manipulator, experimental system identification, control system design and implementation, and experimental results of closed chain position and force feedback control to demonstrate Space Station like robotic operations. A combination of minor loop rate feedback with integral mode, joint based position feedback, and end-effector based force feedback is shown to provide the desired dexterity of hybrid force and position control tasks.

Authors

• Bill Bluethmann
• S. Ananthakrishnan
• J. Scheerer
• T. N. Faddis
• R. B. Greenway

Keywords

• Force control
• Position control
• Force feedback
• Control systems
• Feedback loop
• Electrohydraulics
• Master-slave
• Manipulators
• System identification
• Space stations
• Positive Control
• Hybrid Position
• Hybrid Force
• Hydraulic
• Optimal Control
• Control Design
• Transfer Function
• Position Error
• End-effector
• Testing Ground
• Space Station
• Proportional Control
• System Gain
• End-effector Position
• Position Feedback
• Integral Gain
• Shared Control
• Mode Of Integration
• Dexterous Manipulation
• Compliance Control
• Teleoperator
• Force Error
• Aspects Of Control