Robot force/position tracking with guaranteed prescribed performance

Author

Bechlioulis, Ch ; Doulgeri, Z. ; Rovithakis, G.

Author_Institution

Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece

fYear

2009

fDate

12-17 May 2009

Firstpage

3688

Lastpage

3693

Abstract

A control law is proposed that achieves predefined performance indices regarding the speed of response, the steady state and the allowed overshoot of the robot force/position tracking errors, ensuring no loss of contact of the robot end effector. The controller incorporates a transformed error, which includes the performance indices. The control objective is satisfied under parametric uncertainties in the robot dynamics and the elasticity model constant. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.

Keywords

end effectors; force control; manipulator dynamics; position control; tracking; uncertain systems; elasticity model constant; parametric uncertainty; robot dynamics; robot end effector; robot force/position tracking; Convergence; End effectors; Error correction; Force control; Performance loss; Robot control; Robotics and automation; Steady-state; Transmission line matrix methods; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152277

Filename

5152277