- The Robotics Society of Japan
- Journal of the Robotics Society of Japan (ISSN:02891824)
- vol.12, no.6, pp.893-898, 1994-09-15 (Released:2010-08-25)
In order to execute various contacting tasks, a robot must be controlled contacting force or contacting resistance. In the former case, a force-control is available, and in the latter case, an impedance-control and a compliance-control are useful.In this paper, we propose a Hybrid Compliance/Force Control (H. C. C.) which is a combination of a Hybrid Position/Force Control and a compliance-control. In this method, a position control, a force-control, and a compliance-control can be switched for any direction of a given task. Moreover we compose typical 2 types of H. C. C. (torque-based and position-based), and both methods are installed in a 6-D. 0. F. industrial robot.This study shows compositions of 2 types of H. C. C. and their experimental results.