Theoretical analysis and experimental verification of a manipulator/sensor/environment model for force control
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Models of increasing complexity are briefly discussed, and a fourth-order dynamic model composed of the manipulator, force sensor, and environment is analyzed. Study of the undamped and underdamped cases yields insight into the mode of oscillation of the system and provides the ability to extract system parameter values from the measured force values. The effect of hysteresis is considered. Experimental data for the arm and environment system under small oscillations are reported. Simulation results based on the extracted parameters closely match the experimental data, further confirming the validity of the model.<>Keywords
This publication has 18 references indexed in Scilit:
- Understanding bandwidth limitations in robot force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Impact and force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Controller design in the physical domain (application to robot impedance control)Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Impedance control stability properties in common implementationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motionIEEE Journal on Robotics and Automation, 1986
- Experiments in force control of robotic manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- On dynamic models of robot force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Motion and force control of robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981
- Active stiffness control of a manipulator in cartesian coordinatesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1980