DocumentCode :
2492169
Title :
Joint servoing for robust manipulator force control
Author :
Elosegui, P. ; Daniel, R.W. ; Sharkey, P.M.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
fYear :
1990
fDate :
13-18 May 1990
Firstpage :
246
Abstract :
An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique
Keywords :
force control; industrial robots; servomechanisms; disturbance rejection; end-effector force feedback performances; geared robot; industrial robot; innerloop joint servoing techniques; plant dynamics variations; robust hard-on-hard contact; robust manipulator force control; robustness; strain gauge derived joint torque; velocity; Capacitive sensors; Force control; Instruments; Manipulator dynamics; Robot sensing systems; Robust control; Robustness; Service robots; Servomechanisms; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
Type :
conf
DOI :
10.1109/ROBOT.1990.125981
Filename :
125981
Link To Document :
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