DocumentCode
2942346
Title
Multi-Link Multi-Contact Force Control for Manipulators
Author
Park, Jaeheung ; Khatib, Oussama
Author_Institution
Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA; park73@robotics.stanford.edu
fYear
2005
fDate
18-22 April 2005
Firstpage
3613
Lastpage
3618
Abstract
This paper presents a compliant motion control framework for multiple contacts distributed over multiple links. The one link multi-contact control approach implemented in our previous work has been extended to contacts over multiple links. Experimental results demonstrate three point contact control on two links of a PUMA560 manipulator. A robust force control design is implemented with a Kalman estimator and full state feedback method to compensate for the modeling errors of the manipulator and environment.
Keywords
force control; manipulator; multiple contact; multiple link; Adaptive control; Error correction; Force control; Humanoid robots; Humans; Kalman filters; Kinematics; Manipulators; Motion control; Robust control; force control; manipulator; multiple contact; multiple link;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570670
Filename
1570670
Link To Document