DocumentCode
1245791
Title
A force commanded impedance control scheme for robots with hard nonlinearities
Author
González, Julio J. ; Widmann, Glenn R.
Author_Institution
Dept. of Electr. Eng., State Univ. of New York, New Paltz, NY, USA
Volume
3
Issue
4
fYear
1995
fDate
12/1/1995 12:00:00 AM
Firstpage
398
Lastpage
408
Abstract
This paper investigates a hybrid impedance control scheme that utilizes a desired force, rather than a desired position, as the commanded variable. This scheme is examined for a manipulator system in the presence of inherent hardware nonlinearities, and it demonstrates improved performance with respect to an explicit force control structure of a similar degree of robustness. Theoretical conclusions are supported experimentally on a customized Puma 560 Robotic Testbed facility, developed by the authors
Keywords
compensation; control nonlinearities; force control; friction; nonlinear systems; robots; robust control; testing; Puma 560 Robotic Testbed facility; force commanded impedance control; force compensation; hard nonlinearities; manipulator system; robots; robustness; slip stick friction; Control nonlinearities; Control systems; Force control; Force feedback; Impedance; Manipulator dynamics; Motion control; Robot control; Robust control; Stability;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.481964
Filename
481964
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