Title :
On the elasticity in the dynamic decoupling of hybrid force/velocity control in the contour tracking task
Author :
Pedrocchi, Nicola ; Visioli, Antonio ; Ziliani, Giacomo ; Legnani, Giovanni
Author_Institution :
ITIA, Consiglio Naz. delle Ric., Milan
Abstract :
The paper investigates the decoupling of an explicit hybrid force/velocity control of robot manipulators employed in the contour tracking task of objects of unknown shape taking into account the elastic model of the contact and of the robot. The proposed controller allows the achievement of the decoupling of the normal force and tangential velocity control loops and can be expressed as a multi-input multi-output (MIMO) time-varying proportional-integral-derivative (PID) controller. Experimental results demonstrate the effectiveness of the method.
Keywords :
MIMO systems; elasticity; force control; manipulators; three-term control; time-varying systems; tracking; velocity control; contour tracking task; dynamic decoupling; elasticity; force control; multiinput multioutput control; robot manipulator; tangential velocity control loops; time-varying proportional-integral-derivative controller; Acceleration; Erbium; Force; Manipulators; Robot kinematics; Robots; Symmetric matrices;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650883