An Architecture for Robot Force and Impact Control

Author

Ranko, Zotovic ; Ángel, Valera F. ; Pedro, García G. ; Ángel, Llosa G.

Author_Institution

Dept. of Syst. Eng. & Control, Univ. Politecnica de Valencia

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

An architecture for force and impact control is proposed. Its first objective is to control the robot in free motion until the contact with the environment is made. Next, it should make the transition to constrained as smooth as possible. Finally, it should switch to force control in order to assure the tracking of the force reference. An absolute priority is to protect the system against the dangerous peaks of force. Also, loss of contact should be avoided when possible. The performance is improved by taking care of the accumulation of elastic energy in the robot. Sampling period is changed depending on the state of the system. An experimental platform was developed in order to test the architecture

Keywords

force control; impact (mechanical); mobile robots; motion control; time-varying systems; force control; impact control; robot; switched system; Contacts; Control systems; Force control; Mobile robots; Motion control; Orbital robotics; Protection; Robot control; Robot sensing systems; Switches; architecture; force control; robots; switched system;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252699

Filename

4018815