A flexible link manipulator as a force measuring and controlling unit

Author

Richter, Klaus ; Pfeiffer, Friedrich

Author_Institution

Tech Univ., Muenchen, Lehrstuhl B fuer Mech., Germany

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1214

Abstract

A position and force control concept for a manipulator with elasticity in joints and links is developed. The measurement of the link deformations is used for control of vibrations as well as for determining of contact forces. Two cases are distinguished: for fast movements on a contact surface, a multistage approach is applied that consists of an offline feedforward branch and an online elasticity controller; and for slow compliant movements, an impedance control algorithm is used that includes elasticity feedback to damp vibrations of the elastic links. A three-DOF (degree-of-freedom) manipulator with two links that are elastic with respect to bending and torsion is used for verification of the concept in experiments

Keywords

distributed parameter systems; elasticity; feedback; force control; large-scale systems; position control; robots; vibration control; 3 d.o.f. manipulator; compliant movements; contact surface; damping vibration control; elasticity feedback; flexible link manipulator; force control unit; force measurement; impedance control; joint elasticity; link deformation measurement; link elasticity; multistage approach; offline feedforward branch; online elasticity controller; Damping; Elasticity; Force control; Force measurement; Grippers; Measurement units; Motion control; Path planning; Service robots; Vibration measurement;

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.1991.131777

Filename

131777