Title :
On robust impedance force control of robot manipulators
Author :
Jung, Seul ; Hsia, T.C. ; Bonitz, R.G.
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Davis, CA, USA
Abstract :
An impedance function is proposed to achieve accurate force tracking under the presence of uncertainties in robot dynamics and environment models. The new impedance function is formulated on the basis of PID control of the force tracking error which compensates for the unknown environment stiffness and position. The robot dynamics uncertainties are compensated by a simple time-delayed robust control algorithm. Stability and convergence of the control scheme are analyzed. Simulation studies with a three link rotary robot manipulator are shown. Furthermore, experimental results on a PUMA 560 arm are carried out to confirm the proposed impedance controller´s performance
Keywords :
delays; force control; manipulator dynamics; robust control; uncertain systems; PID control; PUMA 560 arm; convergence; environment models; force tracking error; robot dynamics; robust impedance force control; three link rotary robot manipulator; time-delayed robust control algorithm; uncertainties; unknown environment stiffness; Convergence; Error correction; Force control; Impedance; Manipulator dynamics; Robots; Robust control; Stability analysis; Three-term control; Uncertainty;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619266
