DocumentCode :
2329585
Title :
A passivity-based force/position control scheme for robot manipulators
Author :
Siciliano, Bruno ; Villani, Luigi
Author_Institution :
Dipartimento di Inf. e Sistemistica, Naples Univ., Italy
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
3265
Abstract :
The problem of designing a control scheme for robot manipulators in contact with a compliant surface is considered. A passivity-based force/position control scheme is designed. A keen choice of the reference vector used in the control law is proposed as a function of the end-effector position and velocity errors and the integral of the contact force error. It is demonstrated that the scheme ensures tracking of the unconstrained components of the desired end-effector trajectory with regulation of the desired contact force along the constrained direction. In the imperfect model compensation case, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are presented for an industrial robot manipulator
Keywords :
control system synthesis; force control; industrial robots; position control; robots; tracking; contact force error; force control; imperfect model compensation; passivity; position control; reference vector; robot manipulators; tracking; velocity errors; Error correction; Force control; Force feedback; Force sensors; Gravity; Manipulator dynamics; Orbital robotics; Position control; Robot control; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351068
Filename :
351068
Link To Document :
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