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 


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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

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

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