Title :
An intelligent force/position control of robot manipulator using time delay control
Author :
Chang, Pyung H. ; Kim, D.S. ; Lee, Jeong W.
Author_Institution :
Dept. of Precision Eng. & Mechatronics, Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
Robot hybrid control has been noted for its difficulty due to so called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy. In this paper, a control law based on time delay control has been derived for hybrid control, with a condition for closed-loop stability. Throughout simulations and experiments, this control law was observed to outperform PD or PID control, thereby proposing itself as a promising one for the hybrid control purpose
Keywords :
closed loop systems; delays; force control; intelligent control; manipulators; position control; robust control; stability criteria; closed-loop stability condition; dynamic stability problem; intelligent force/position control; robot hybrid control; robot manipulator; time delay control; Delay effects; Force control; Intelligent robots; Manipulator dynamics; PD control; Position control; Robot control; Robust control; Robust stability; Three-term control;
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
DOI :
10.1109/IROS.1994.407638
