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arXiv · 2408.04106

Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator

Sagar Ojha·Karl Leodler·Lou Barbieri·TseHuai Wu
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Abstract

This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired position, orientations and rates. When contacting an obstacle or target object, the force module of the controller restricts the manipulator movements with a novel force exertion method, which prevents damage to the manipulator, the end-effector, and the objects during the contact or collision. The core strategy presented in this paper is to design the linear acceleration for the end-effector which ensures both trajectory tracking and restriction of any contact force at the end-effector. The design of the controller is validated through numerical simulations and digital twin validation.

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Sagar Ojha, Karl Leodler, Lou Barbieri, TseHuai Wu. 2024-08-07. Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator. https://arxiv.org/abs/2408.04106

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