Title :
Multi-Link Multi-Contact Force Control for Manipulators
Author :
Park, Jaeheung ; Khatib, Oussama
Author_Institution :
Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA; park73@robotics.stanford.edu
Abstract :
This paper presents a compliant motion control framework for multiple contacts distributed over multiple links. The one link multi-contact control approach implemented in our previous work has been extended to contacts over multiple links. Experimental results demonstrate three point contact control on two links of a PUMA560 manipulator. A robust force control design is implemented with a Kalman estimator and full state feedback method to compensate for the modeling errors of the manipulator and environment.
Keywords :
force control; manipulator; multiple contact; multiple link; Adaptive control; Error correction; Force control; Humanoid robots; Humans; Kalman filters; Kinematics; Manipulators; Motion control; Robust control; force control; manipulator; multiple contact; multiple link;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570670
