DocumentCode :
2327460
Title :
Adaptive compliant motion control of manipulators: theory and experiments
Author :
Colbaugh, R. ; Engelmann, A.
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
2719
Abstract :
This paper presents a new adaptive compliant motion control scheme for position-controlled manipulators. The strategy does not require knowledge of the manipulator dynamic model, the position controller parameters, or the environment, and is extremely simple computationally. The control scheme is shown to be globally asymptotically stable if the “inner-loop” position controller has a PD-plus-gravity compensation structure and globally stable even if gravity effects are not compensated. Computer simulation results are given for a Robotics Research Corporation (RRC) Model K-1207 redundant arm and demonstrate that accurate and robust force control is achievable with the proposed controller. Experimental results are presented for the RRC K-1207 robot and confirm that the control scheme provides a simple and effective means of obtaining high performance force control
Keywords :
adaptive control; asymptotic stability; compensation; compliance control; force control; manipulators; motion control; position control; robust control; two-term control; PD-plus-gravity compensation structure; Robotics Research Corporation Model K-1207 redundant arm; adaptive compliant motion control; globally asymptotically stable; gravity effects; inner-loop position controller; position-controlled manipulators; robust force control; Adaptive control; Control systems; Force control; Industrial control; Manipulator dynamics; Motion control; Programmable control; Robot control; Service robots; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.350925
Filename :
350925
Link To Document :
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