Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator
<|reference_start|>Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator: 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.<|reference_end|>
@article{ojha2024force-motion,
    title={Force-Motion Control For A Six Degree-Of-Freedom Robotic Manipulator},
    author={Sagar Ojha, Karl Leodler, Lou Barbieri, TseHuai Wu},
    journal={arXiv preprint arXiv:2408.04106},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.04106},
    primaryClass={cs.RO math.DS}
}