Authors: Ionel Alexandru Gal
The main purpose of this paper is to develop a new and innovative hybrid force/position control method able to adapt in real time to any kind of situation and event that the robot may encounter in the workspace. For this, in hybrid control development phase, multiple control laws are chosen, and to them is associated their way of use, followed by the definition of a real time control laws’ set that the robot will use according to the situation met in the workspace, by states and uncertainty areas for which will be defined control laws and methods with wide spectrum applicability.
Comments: 19 Pages.
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[v1] 2015-10-18 06:50:40
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