Abstract：This paper presents a rear cutter scheme for glass cutting manipulator to avoid force control of cutter. This scheme is proved to be effective by theoretical analysis and practical cutting. The cutting force compensation and trajectory planning are also introduced. Experimantal results demonstrate that theory analysis and practice are well coincident.
[1] Whitney D E.Historical Perspective and State of the Art in Robot Force Control.IEEE Conf on Robotics and Automalion,1987,1060-1065 [2] Raibert M H,Craig J J.Hybrid Position/force Control of Manipulators.ASME J DSMC.1981,103(4):126-133 [3] Hogan N.Impedance Control,An Approach to Manipulation.ACME J DSMC,1985,107(1):1-24 [4] An C H,Hollerbach J M.Dynamic Stability Issues in Force Control of Manipulators.IEEE Conf on Robotics and Au-tomation,1987:890-896. [5] 蒋平,陈辉堂,王月娟.力矩受限时的最优轨迹规划方案.同济大学学报,1993.21(1):49-55
