Title :
A force commanded impedance control scheme for robots with hard nonlinearities
Author :
González, Julio J. ; Widmann, Glenn R.
Author_Institution :
Dept. of Electr. Eng., State Univ. of New York, New Paltz, NY, USA
fDate :
12/1/1995 12:00:00 AM
Abstract :
This paper investigates a hybrid impedance control scheme that utilizes a desired force, rather than a desired position, as the commanded variable. This scheme is examined for a manipulator system in the presence of inherent hardware nonlinearities, and it demonstrates improved performance with respect to an explicit force control structure of a similar degree of robustness. Theoretical conclusions are supported experimentally on a customized Puma 560 Robotic Testbed facility, developed by the authors
Keywords :
compensation; control nonlinearities; force control; friction; nonlinear systems; robots; robust control; testing; Puma 560 Robotic Testbed facility; force commanded impedance control; force compensation; hard nonlinearities; manipulator system; robots; robustness; slip stick friction; Control nonlinearities; Control systems; Force control; Force feedback; Impedance; Manipulator dynamics; Motion control; Robot control; Robust control; Stability;
Journal_Title :
Control Systems Technology, IEEE Transactions on
