Stability analysis of 6-DOF force/position control for robot manipulators

Author

Gravdahl, Jan Tommy ; Egeland, Olav ; Siciliano, Bruno ; Chiaverini, Stefano

Author_Institution

Inst. for Teknisk Kybernetikk, Trondheim, Norway

Volume

3

fYear

1994

Firstpage

2408

Abstract

In this paper we propose a force/position control scheme in a 6-DOF task space which is a generalization of the parallel control scheme in a 3-DOF task space. The controller consists of a PD action on the position loop, a PI action on the force loop together with gravity compensation and feedforward of the desired contact force. Kinestatic filtering is not used in the scheme. Euler parameters are adopted to describe end-effector orientation. The model of interaction wrench (force and moment) is formulated with a generalized spring. Stability of the proposed scheme is established through the Lyapunov method

Keywords

Lyapunov methods; control system analysis; feedforward; force control; manipulators; position control; stability; two-term control; 6-DOF force/position control; 6-DOF task space; Euler parameters; Lyapunov method; PD control; PI control; contact force; end-effector orientation; feedforward; gravity compensation; interaction wrench; robot manipulators; stability analysis; End effectors; Filtering; Force control; Force feedback; Force sensors; Manipulator dynamics; Position control; Robots; Springs; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on

Conference_Location

Lake Buena Vista, FL

Print_ISBN

0-7803-1968-0

Type

conf

DOI

10.1109/CDC.1994.411454

Filename

411454