Hybrid Position/Force Control Of 6-Dof Hydraulic Parallel Manipulator Using Force And Vision

Purpose - The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel manipulator (HPM).Design/methodology/approach - The vision system consisted of a charge-coupled device (CCD) camera, and a laser distance sensor is used to provide globe relative position information. Also, a force plate is used to measure local contact forces. The proposed controller has an inner/outer loop structure. The inner loop takes charge of tracking command pose signals from outer loop as accurate as possible, while the outer loop generates the desired tracking trajectory according to force and vision feedback information to guarantee compliant docking. Several experiments have been performed to validate the performance of the proposed control scheme.Findings - Experiment results show that the system has good performance of relative position tracking and compliant contact. In whole docking dynamic experiment, the amplitudes of contact forces are well controlled within 300 N, which can meet perfectly the requirement of the amplitude being not more than 1,000 N.Originality/value - A hybrid position/force control scheme using force and vision is proposed to make a 6-dof HPM dock with a moving target object compliantly.