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
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131587
