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Authors
G. Legnani; A. Visioli; G. Ziliani

Identifier
10.3182/20060906-3-IT-2910.00043

Index Terms
industrial robots,contour tracking,hybrid force/velocity control

Abstract
In this paper, the use of implicit (position based) and explicit hybrid force/velocity control for contour tracking task of unknown (planar) objects is discussed and compared from an industrial point of view. In particular, the joint friction compensation issue is addressed. A large number of experimental results obtained with a 2 degree-of-freedom SCARA industrial manipulator is shown to support the investigation.

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