A new approach to force and position control of robot manipulators
- 25 August 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables are simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains "practically stable", is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result.Keywords
This publication has 8 references indexed in Scilit:
- Force and position control of manipulators during constrained motion tasksIEEE Transactions on Robotics and Automation, 1989
- 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
- On the deterministic performance of uncertain dynamical systemsInternational Journal of Control, 1986
- Singular systems of differential equations as dynamic models for constrained robot systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- On the Efficacy of Nonlinear Control in Uncertain Linear SystemsJournal of Dynamic Systems, Measurement, and Control, 1981
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981