RoManSy 6 pp 361-368 | Cite as

C-Surface Theory Applied to Force-Feedback Control of Robots

  • J.-P. Merlet


For a robot in contact with its environment the constraints between the positional variables may be described in the parameters space in term of a “C-surface”. The robot performs its task by sliding on this surface. We proves a theorem which relates the generalized forces acting on the manipulator to the C-surface normal. A general scheme for force feedback control is then proposed illustrated by simulation results of the contour following problem.

A parallel manipulator is then presented and some kinematic features of this architecture are demonstrated. We show that this architecture is very convenient for force-feedback control.


Force Measurement Parallel Manipulator Parallel Robot Assembly Task Tangent Hyperplane 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • J.-P. Merlet
    • 1
  1. 1.INRIALe ChesnayFrance

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