Title :
A study on compliance control for manipulator
Author :
Do, Misun ; Yee, Yanghee ; Kim, Hyunduck ; Park, Mignon
Author_Institution :
Dept. of Electron., Yonsei Univ., Seoul, South Korea
Abstract :
The compliant motion control of a manipulator is proposed by the self-tuning adaptive control method. Compliant motion is needed in such complicated and accurate fields as assembly operation in which several parts are mated. Among compliant motion control methods, the hybrid control is used so that force and position control is processed selectively through a closed feedback loop. In case of contacting with environment, uncertainties of manipulator are more serious. In order to satisfy the desired operation, self-tuning controller which adapts to various dynamic response is applied to compliant motion control. Finally, the applicability of the suggested algorithm by simulation results of the contour tracking task of four-joint manipulator is confirmed
Keywords :
adaptive control; feedback; force control; position control; robots; self-adjusting systems; closed loop systems; compliant motion control; contour tracking; dynamic response; feedback; force control; hybrid control; manipulator; position control; robots; self-tuning adaptive control; Adaptive control; Assembly; Control systems; Force control; Force measurement; Industrial control; Motion control; Optimal control; Position control; Velocity control;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262429
