Force and contact transient control for robot manipulators with robustness enhancement

Author

Xu, Weimin ; Chai, Tianyou ; Shao, Cheng

Author_Institution

Res. Center of Autom., Northeastern Univ., Shenyang, China

Volume

2

fYear

1997

fDate

4-6 Jun 1997

Firstpage

952

Abstract

This paper develops a force and contact transient control scheme for robot manipulators with robustness improvement which performing tasks in stiff environment. The proposed controller, which adopting parallel force/position control structure and a new complex force regulator, is suitable for robots to work in unstructured stiff environment. Asymptotic stability of the system in the neighborhood of the equilibrium state is proven. Experimental results of a robot are presented to demonstrate the good properties of the improvement

Keywords

asymptotic stability; force control; manipulators; position control; robust control; asymptotic stability; complex force regulator; contact transient control; equilibrium state; force transient control; parallel force/position control structure; robot manipulators; robustness enhancement; stiff environment; Automatic control; Force control; Impedance; Manipulator dynamics; Motion control; Position control; Robot control; Robot kinematics; Robotics and automation; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609667

Filename

609667