DocumentCode :
292426
Title :
Adaptive compliance control for redundant manipulators
Author :
Colhaugh, R. ; Glass, Kristin ; Seraji, Homayoun
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
Volume :
1
fYear :
1994
fDate :
12-16 Sep 1994
Firstpage :
470
Abstract :
This paper presents two adaptive schemes for compliance control of redundant manipulators. The first scheme is developed using an adaptive impedance control approach for torque-controlled manipulators, while the second strategy is an adaptive admittance controller for position-controlled manipulators. The proposed controllers are very general and computationally efficient since they do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment, and are implemented without calculation of the inverse dynamics or inverse kinematic transformation. It is shown that the control strategies are globally stable in the presence of bounded disturbances, and that in the absence of disturbances the ultimate bound on the size of the system errors can be made arbitrarily small. The capabilities of the proposed admittance controller are illustrated through laboratory experiments with a Robotics Research Corporation seven degree-of-freedom (DOF) manipulator
Keywords :
adaptive control; compliance control; manipulators; position control; redundancy; torque control; Robotics Research Corporation seven DOF manipulator; adaptive admittance controller; adaptive compliance control; adaptive impedance control; bounded disturbances; control strategies; global stability; position-controlled manipulators; redundant manipulators; torque-controlled manipulators; Adaptive control; Admittance; Control systems; Error correction; Impedance; Kinematics; Manipulator dynamics; Programmable control; Size control; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
Type :
conf
DOI :
10.1109/IROS.1994.407435
Filename :
407435
Link To Document :
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