Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

Abstract

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.

Keywords

• controur tracking
• hybrid force/velocity control
• gain scheduling
• industrial robots.