A Caltech Library Service

Motion and force control of robot manipulators

Khatib, Oussama and Burdick, Joel (1986) Motion and force control of robot manipulators. In: Proceedings. 1986 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1381-1386. ISBN 9780818646959.

[img] PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


In this paper we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. This formulation provides a framework for natural and efficient integration of both end-effector force and motion control. A "generalized position and force specification matrix" is used for the specification of tasks that involve simultaneous motion and force operations. Flexibility in the force sensor, end-effector, and environment, and problems related to impact are discussed. The real-time operational space control system, COSMOS, has been recently implemented in the NYMPH multiprocessor system. Results of experiments involving contact and force step input response are presented.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Additional Information:© 1986 IEEE. The authors would like to the Brian Armstrong and Ron Fearing for their invaluable technical assistance. Support for this work has been provided by the National Science Foundation under contract MEA80-19628, by a grant from the Systems Development Foundation, and by DARPA through the Intelligent Task Automation Project, contract F 33615-82-C-5092.
Funding AgencyGrant Number
Systems Development FoundationUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)F 33615-82-C-5092
Record Number:CaltechAUTHORS:20190611-091324458
Persistent URL:
Official Citation:O. Khatib and J. Burdick, "Motion and force control of robot manipulators," Proceedings. 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 1986, pp. 1381-1386. doi: 10.1109/ROBOT.1986.1087493
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96268
Deposited By: Tony Diaz
Deposited On:11 Jun 2019 16:24
Last Modified:16 Nov 2021 17:19

Repository Staff Only: item control page