Force/position regulation of compliant robot manipulators

Author

Chiaverini, Stefano ; Siciliano, Bruno ; Villani, Luigi

Author_Institution

Dipartimento di Inf. e Sistemistica, Universita degli Studi di Napoli Federico II, Italy

Volume

39

Issue

3

fYear

1994

fDate

3/1/1994 12:00:00 AM

Firstpage

647

Lastpage

652

Abstract

Stable force/position regulation of robot manipulators in contact with an elastically compliant surface is discussed in this work. The controller consists of a PD action on the position loop, a PI action on the force loop, together with gravity compensation and desired contact force feedforward. Asymptotic stability of the system in the neighborhood of the equilibrium state is proven via the classical Lyapunov method with LaSalle invariant set theorem. A modification of the Lyapunov function leads to deriving an exponential stability result. Numerical case studies are developed for an industrial manipulator

Keywords

Lyapunov methods; compliance control; force control; manipulators; position control; stability; two-term control; LaSalle invariant set theorem; Lyapunov method; PD action; PI action; asymptotic stability; compliant robot manipulators; elastically compliant surface; exponential stability; feedforward; force loop; gravity compensation; industrial manipulator; position loop; stable force/position regulation; Asymptotic stability; Feedback; Force control; Force sensors; Lyapunov method; Manipulators; Orbital robotics; Robot control; Robot sensing systems; Service robots;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.280780

Filename

280780