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

fYear

1990

fDate

3-6 Jul 1990

Firstpage

493

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262429

Filename

262429