A COMPARISON BETWEEN IMPLICIT AND EXPLICIT HYBRID CONTROL FOR CONTOUR TRACKING

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.