DocumentCode
3321280
Title
Approaches to robust force control of manipulators
Author
Zhen, Robert R Y ; Goldenberg, Andrew A.
Author_Institution
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Volume
3
fYear
1994
fDate
12-16 Sep 1994
Firstpage
1602
Abstract
In this paper, the problem of robust control of robot manipulators which perform noncontact and contact tasks is considered. Using the hybrid control strategy, two variable structure control algorithms are developed in task space. One of the algorithms is developed for control of robot manipulators in constrained motion; the other is proposed for control of manipulators in unconstrained and constrained motion. Computer simulation results are presented for illustration
Keywords
control system synthesis; force control; manipulators; robust control; variable structure systems; constrained motion; contact tasks; hybrid control strategy; manipulators; noncontact tasks; robust force control; task space; unconstrained motion; variable structure control algorithms; Automatic control; Force control; Impedance; Manipulator dynamics; Motion control; Orbital robotics; Robot control; Robotics and automation; Robust control; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407642
Filename
407642
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