A robust force controller: theory and experiments
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 36-41 vol.1
- https://doi.org/10.1109/robot.1991.131549
Abstract
In most applications of manipulating systems, the manipulator has to make contact with rigid fixtures in its environment. In practice, it has been noticed that the performance of the contact force controllers is affected when the manipulator is in contact with a rigid environment or in the presence of uncertainties. A model of the manipulator in contact with a rigid environment is presented, and a robust control architecture based on a general theory of a servomechanism for controlling the contact force is proposed. The results of this work are demonstrated experimentally using a two-degree-of-freedom direct drive robot.Keywords
This publication has 10 references indexed in Scilit:
- Understanding bandwidth limitations in robot force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Stability criteria for robot compliant maneuversPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Shared compliant control: a stability analysis and experimentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Stability analysis of position and force control problems for robot armsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1990
- On the stability of manipulators performing contact tasksIEEE Journal on Robotics and Automation, 1988
- Compliant Robot Motion II. A Control Approach Based on External Control LoopsThe International Journal of Robotics Research, 1988
- Historical Perspective and State of the Art in Robot Force ControlThe International Journal of Robotics Research, 1987
- On dynamic models of robot force controlPublished 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
- Robust control of a general servomechanism problem: The servo compensatorAutomatica, 1975