Experimental results in manipulator contact task control
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1645-1651 vol.2
- https://doi.org/10.1109/robot.1991.131855
Abstract
The implementation of two robotic control laws proposed in the robotics literature is presented. The discontinuous control law of J.K. Mills (1990) has been demonstrated experimentally to solve the complex problem of control of manipulators during the transition to and from contact motion. Stable transitions are seen during implementation of this control. Further, the control is seen to have a number of highly desirable features, making it attractive for use in industrial manufacturing settings. The constrained motion controller of N.H. McClamroch and D. Wang (1988) has also been implemented. Tests with this control indicate that its performance is as predicted from theory. It is seen that difficulties encountered in the implementation of the constrained motion control result from the lack of a facility to address the problem of inadvertent loss of contact during experimental runs.<>Keywords
This publication has 4 references indexed in Scilit:
- Optimal compliance design for grinding robot tool holdersPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Manipulator transition to and from contact tasks: a discontinuous control approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Robotic Manipulator Collisions: Modeling and SimulationJournal of Dynamic Systems, Measurement, and Control, 1992
- Feedback stabilization and tracking of constrained robotsIEEE Transactions on Automatic Control, 1988