Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment

Author

Aghili, F. ; Dupuis, E. ; Martin, E. ; Piedbceuf, J.-C.

Author_Institution

Canadian Space Agency, Saint-Hubert, Ont., Canada

Volume

4

fYear

2001

fDate

2001

Firstpage

2227

Abstract

Analyses the performance and stability of a force/moment accommodation (FMA) loop closed around a joint rate controller. A synthesis methodology is given to select the gains of the accommodation controller. The bandwidth and coupling limitations of the FMA control architecture are discussed. It is shown that the closed-loop FMA exhibits natural decoupling when FMA acts on the "transpose Jacobian rate" controller. The theoretical developments in the paper are supported by simulation and experimental results

Keywords

Jacobian matrices; closed loop systems; control system analysis; control system synthesis; force control; frequency-domain analysis; frequency-domain synthesis; linear systems; manipulators; multivariable control systems; stability; telerobotics; bandwidth limitations; contact tasks; coupling limitations; force/moment accommodation control; joint rate controller; natural decoupling; stability; stiff environment; synthesis methodology; tele-operated manipulators; transpose Jacobian rate controller; Automatic control; Force control; Jacobian matrices; Manipulators; Motion control; Open loop systems; Performance analysis; Robots; Stability analysis; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976401

Filename

976401