Title :
On robust impact control via positive acceleration feedback for robot manipulators
Author :
Wu, Yunying ; Tarn, Tzyh-Jong ; Xi, Ning ; Isidori, Alberto
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
In this paper, a long outstanding problem, robust impact control and force regulation with guaranteed stability is solved by adding a novel positive acceleration, feedback to the feedback loop in the direction of impact and force control for robot manipulators working in an unknown environment. A quick and stable transition can be accomplished with a nonzero impact velocity, and the transient force response can be controlled with minimum impact forces and minimum bouncing. In addition, a switching control strategy is designed to guarantee the stability of the impact control. Unexpected bouncing can be eliminated after finite switches. The output force and motion can be regulated simultaneously with high accuracy after contact is established. Rigorous stability analysis based on the Liapunov-like method is presented for the proposed control scheme. The control scheme was implemented and tested on a 6 DOF PUMA 560 robot arm. The experimental comparisons with other force control strategies were given to demonstrate the advantage of the proposed method. The result obtained in this paper can be applied to any system requiring impact control and force regulation
Keywords :
Lyapunov methods; acceleration control; feedback; force control; manipulators; robust control; 6 DOF PUMA 560 robot arm; Lyapunov-like method; feedback loop; finite switches; force control; force regulation; guaranteed stability; minimum bouncing; minimum impact forces; nonzero impact velocity; positive acceleration; positive acceleration feedback; rigorous stability analysis; robot manipulators; robust impact control; transient force response; unexpected bouncing; Acceleration; Feedback loop; Force control; Force feedback; Manipulators; Robots; Robust control; Robust stability; Switches; Velocity control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506987