Modified hybrid control for an electrohydraulic robot leg
- 1 August 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems Magazine
- Vol. 7 (4) , 12-19
- https://doi.org/10.1109/MCS.1987.1105324
Abstract
A Modified Hybrid Control scheme has been developed, which provides the mathematical structure of Hybrid Control in a manner that facilitates real-time implementation. As in Hybrid Control, either position or force (or compliance) may be controlled along each Cartesian axis. However, the control is implemented so as to achieve high servo rates. Results for control of an Adaptive Suspension Vehicle are given. This represents one of the most successful implementations of the Hybrid Control concept on an actual system, resulting in joint servoing at 140 Hz.Keywords
This publication has 10 references indexed in Scilit:
- The adaptive suspension vehicleIEEE Control Systems Magazine, 1986
- Motion and force control of robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Configuration Design of the Adaptive Suspension VehicleThe International Journal of Robotics Research, 1984
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981
- Compliance and Force Control for Computer Controlled ManipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1981
- Linear state-feedback control of manipulatorsMechanism and Machine Theory, 1981
- Resolved-acceleration control of mechanical manipulatorsIEEE Transactions on Automatic Control, 1980
- Real-Time Control of a Multiple-Element Mechanical Linkage with a MicrocomputerIEEE Transactions on Industrial Electronics and Control Instrumentation, 1979
- The Application of Model-Referenced Adaptive Control to Robotic ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1979
- Nonlinear feedback in simple locomotion systemsIEEE Transactions on Automatic Control, 1976