Stable phase transition control for robot arm motion

Author

Marth, G.T. ; Tarn, T.J. ; Bejczy, A.K.

Author_Institution

Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

355

Abstract

A nonlinear-feedback-based algorithm is combined with explicit force control to drive a rigid manipulator from free space to compliant motion. Force control is switched on when the sensors report a contact event. An event-based motion planning method is used. Physically sensible definitions for the stability of a phase transition are given. A nonlinear interaction force model is considered in the analysis. Conditions involving impact velocity are presented for a stable phase transition that allows a finite number of bounces before final contact is eventually established. A sufficient condition for bounceless landing is given. The results are verified by dynamic simulation, which is now in the process of experimental implementation

Keywords

feedback; force control; nonlinear control systems; position control; robots; stability; bounceless landing; compliant motion; event-based motion planning; force control; manipulator; motion control; nonlinear feedback control; nonlinear interaction force model; phase transition control; robot arm; stability; sufficient condition; Force control; Force sensors; Manipulators; Motion control; Motion planning; Orbital robotics; Robot control; Robot sensing systems; Stability; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292007

Filename

292007