A stable force/position controller for robot manipulators

Author

Chiaverini, Stefano ; Siciliano, Bruno ; Villani, Luigi

Author_Institution

Dipartimento di Inf. e Sistemistica, Napoli Federico II Univ., Italy

fYear

1992

fDate

1992

Firstpage

1869

Abstract

A force/position controller for robot manipulators in contact with an elasticity compliant surface is presented. The controller consists of proportional-derivative (PD) action on the position loop and proportional-integral (PI) action on the force loop, together with gravity compensation and desired contact force feedforward. Asymptotic stability of the system in the neighborhood of the equilibrium state is proven via the classical Lyapunov method with the LaSalle invariance set theorem. A modification of the Lyapunov function leads to deriving an exponential stability result

Keywords

Lyapunov methods; force control; manipulators; position control; stability; two-term control; LaSalle invariance set theorem; Lyapunov method; asymptotic stability; contact force feedforward; elasticity compliant surface; elbow manipulator; exponential stability; force loop; gravity compensation; position loop; proportional-derivative action; proportional-integral action; robot manipulators; robustness; stable force/position controller; Asymptotic stability; Elasticity; Force control; Gravity; Lyapunov method; Manipulators; PD control; Pi control; Proportional control; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Conference_Location

Tucson, AZ

Print_ISBN

0-7803-0872-7

Type

conf

DOI

10.1109/CDC.1992.371105

Filename

371105