Title :
Position and force control by reaction compensation
Author :
Tanner, G. ; Kyriakopoulos, E.J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Abstract :
The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.
Keywords :
digital simulation; force control; manipulator dynamics; position control; stability; three-term control; inverse dynamics position controller; parallel approach; reaction compensation; transient performance; Control systems; Damping; Error correction; Force control; Force measurement; Impedance; Laboratories; Mechanical engineering; Stability; Velocity control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933229
