Title :
Gain scheduled control of robot manipulators for contact tasks on uncertain flexible objects
Author :
Wu, Jianqing ; Luo, Zhiwei ; Yamakita, Masaki ; Ito, Koji
Author_Institution :
Toyohashi Univ. of Technol., Japan
Abstract :
This paper studies position/force hybrid control of a robot manipulator to interact with its uncertain flexible object. The variation of the object dynamics as seen from the robot end-effector is formulated as an uncertain linear parameter-varying system (ULPV). Gain scheduled control is developed for controlling this kind of system. Computer simulations show the effectiveness of our control approach
Keywords :
force control; manipulator dynamics; position control; uncertain systems; ULPV; contact tasks; gain scheduled control; object dynamics; position/force hybrid control; robot end-effector; robot manipulators; uncertain flexible objects; uncertain linear parameter-varying system; Control systems; Distributed parameter systems; Force control; Force measurement; Force sensors; Manipulator dynamics; Processor scheduling; Protection; Robot control; Robot sensing systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.569737
