Title :
Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment
Author :
Aghili, F. ; Dupuis, E. ; Martin, E. ; Piedbceuf, J.-C.
Author_Institution :
Canadian Space Agency, Saint-Hubert, Ont., Canada
Abstract :
Analyses the performance and stability of a force/moment accommodation (FMA) loop closed around a joint rate controller. A synthesis methodology is given to select the gains of the accommodation controller. The bandwidth and coupling limitations of the FMA control architecture are discussed. It is shown that the closed-loop FMA exhibits natural decoupling when FMA acts on the "transpose Jacobian rate" controller. The theoretical developments in the paper are supported by simulation and experimental results
Keywords :
Jacobian matrices; closed loop systems; control system analysis; control system synthesis; force control; frequency-domain analysis; frequency-domain synthesis; linear systems; manipulators; multivariable control systems; stability; telerobotics; bandwidth limitations; contact tasks; coupling limitations; force/moment accommodation control; joint rate controller; natural decoupling; stability; stiff environment; synthesis methodology; tele-operated manipulators; transpose Jacobian rate controller; Automatic control; Force control; Jacobian matrices; Manipulators; Motion control; Open loop systems; Performance analysis; Robots; Stability analysis; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976401
