On the stability of manipulators performing contact tasks
- 1 December 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 4 (6) , 677-686
- https://doi.org/10.1109/56.9305
Abstract
Manipulation requires contact with the object being manipulated, and the full potential of robots can only be realized when they are applied to contact tasks. One of the difficulties engendered by contact tasks is that they require intimate dynamic interaction between the robot and its environment. That interaction changes the performance of the robot and can jeopardize the stability of its control system. A discussion is presented of the problem of preserving the stability of a manipulator's control system during contact tasks. It will be shown that contact stability may be guaranteed if the control system provides the manipulator with an appropriately structured dynamic response to environmental inputs. Two aspects of one implementation of such a controller will be considered. Robustness to large errors in the manipulator kinematic equations and to unmodeled interface dynamics is shown.<>Keywords
This publication has 12 references indexed in Scilit:
- Robust, non-linear impedance control for robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Stable execution of contact tasks using impedance controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Problems and research issues associated with the hybrid control of force and displacementPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Robust compliant motion for manipulators, part II: Design methodIEEE Journal on Robotics and Automation, 1986
- Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motionIEEE Journal on Robotics and Automation, 1986
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Control Strategies for Complex Movements Derived from Physical Systems TheoryPublished by Springer Nature ,1985
- Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive MechanismJournal of Dynamic Systems, Measurement, and Control, 1984
- Impedance control of industrial robotsRobotics and Computer-Integrated Manufacturing, 1984
- A New Feedback Method for Dynamic Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981