DocumentCode
3214318
Title
On force-tracking impedance control of robot manipulators
Author
Lasky, T.A. ; Hsia, T.C.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
274
Abstract
A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface
Keywords
force control; position control; robots; stability; force-tracking impedance control; inner-loop; outer-loop; position tracking; robot manipulators; stability; trajectory modifying controller; two-loop control system; unknown environment stiffness; Algorithm design and analysis; Automatic control; Control systems; Force control; Friction; Manipulator dynamics; Robot control; Robot kinematics; Surface impedance; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131587
Filename
131587
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