caa a22 4500 465797628 CHVBK 20180323112042.0 cr unu---uuuuu 170327e19900901xx s 000 0 eng 10.1007/BF00126071 doi (NATIONALLICENCE)springer-10.1007/BF00126071 On the invariance of the hybrid position/force control [Elektronische Daten] [A. Abbati-Marescotti, C. Bonivento, C. Melchiorri] Recently, the noninvariance nature of the Raibert and Craig hybrid control scheme, based on the work of Mason and others, has been pointed out. In fact, on the basis of the screw theory, Lipkin and Duffy demonstrated that the selection of the position and force controlled degrees of freedom in the Raibert and Craig scheme, may give wrong results if a translation or change in unit length of the coordinate frame is performed. A general theoretical solution to this problem, called ‘kinestatic filtering', has been given by Lipkin and Duffy. In this paper, the two approaches are summarized and discussed. First, the conditions in which the Mason filtering technique fails are determined and, second, the situations where the Lipkin and Duffy approach cannot be applied owing to degeneracy of the twist and wrench spaces, are reported. As a consequence of this analysis, a new invariant kinestatic filtering method is proposed. The method here presented is based on the original Mason approach and requires the definition of a task-dependent filter based on the knowledge of the position of the compliant frame. Examples are presented and discussed. Kluwer Academic Publishers, 1990 Robot control nationallicence hybrid position/force control nationallicence kinestatic filtering nationallicence Abbati-Marescotti A. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut Bonivento C. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut Melchiorri C. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 233-250 0921-0296 3:3<233 1990 3 10846 https://doi.org/10.1007/BF00126071 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00126071 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Abbati-Marescotti A. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut NATIONALLICENCE 700 1- Bonivento C. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut NATIONALLICENCE 700 1- Melchiorri C. Dipartimento di Elettronica Informatica e Sistemistica, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 233-250 0921-0296 3:3<233 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer