The implementation of a natural admittance controller on an industrial manipulator

Author

Glosser, Gregory D. ; Newman, Wyatt S.

Author_Institution

FANUC Robotics Corp., Auburn Hills, MI, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

1209

Abstract

This research focuses on the implementation of a natural admittance controller on an industrial manipulator. Natural admittance control is a particular type of interaction controller which guarantees stability with any passive environment. The admittance criterion is presented along with methods of control. A robot model is proposed and the model parameters are found experimentally. A controller is designed which takes into consideration the aforementioned model. Also, a convenient technique that allows “on the fly” modification of controller gains and desired dynamics has been developed. The controller was designed and implemented on an industrial robot and performance results are presented. The implemented scheme is shown to offer high performance and guaranteed stability with good friction rejection

Keywords

control system synthesis; friction; industrial manipulators; parameter estimation; stability; admittance criterion; friction rejection; guaranteed stability; high performance; industrial manipulator; industrial robot; interaction controller; natural admittance controller; passive environment; Admittance; Force feedback; Friction; Impedance; Industrial control; Manipulators; Open loop systems; Robot sensing systems; Service robots; Stability;

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.1994.351321

Filename

351321