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

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2057

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619266

Filename

619266