Force regulation and contact transition control

Author

Tarn, Tzyh-Jong ; Wu, Yunying ; Xi, Ning ; Isidori, Alberto

Author_Institution

Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA

Volume

16

Issue

1

fYear

1996

fDate

2/1/1996 12:00:00 AM

Firstpage

32

Lastpage

40

Abstract

In this article, a new sensor-referenced control method using positive acceleration feedback together with a switching control strategy is developed for robot impact control and force regulation. The robot dynamic model is feedback-linearized and decoupled for the free-motion mode, the phase-transition mode, and the constrained-motion mode. Considering the detection of the impact as an event, the event-driven switching control strategy is used to deal with the inadvertent loss of contact of the robotic manipulator. Bouncing can be eliminated after finite switches. A stable transition can be achieved with a nonzero impact velocity; large impact forces can be avoided and the output force can be regulated after contact is established. Stability analysis based on the Lyapunov-like method is given for the proposed system. The scheme was implemented and tested on a 6 DOF PUMA 560 robot arm

Keywords

Lyapunov methods; acceleration control; feedback; force control; manipulators; position control; stability; 6 DOF PUMA 560 robot arm; Lyapunov-like method; constrained-motion mode; contact transition control; event-driven switching control strategy; feedback-linearisation; force regulation; free-motion mode; phase-transition mode; positive acceleration feedback; robot dynamic model; robot impact control; sensor-referenced control method; stability analysis; Acceleration; Event detection; Force control; Force feedback; Force sensors; Manipulator dynamics; Robot control; Robot sensing systems; Stability analysis; Switches;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.482135

Filename

482135