Passivity-based design and experimental validation of adaptive force/position controllers for robot manipulators

Author

Natale, Ciro ; Villani, Luigi

Author_Institution

Dipartimento di Inf. e Sistemistica, Naples Univ., Italy

Volume

1

fYear

1998

fDate

1998

Firstpage

427

Abstract

This paper deals with the problem of controlling the interaction of a robot manipulator with an elastic surface. The goal of tracking a desired position trajectory and a desired time-varying contact force is pursued. The controller design is carried out in a passivity framework and adaptive algorithms are used to counteract the effects of the uncertain estimate of the stiffness coefficient of the environment. Two alternative adaptive control laws are considered, with and without force time-derivative feedback. The experimental validation is carried out on an industrial robot with open control architecture equipped with a force sensor

Keywords

adaptive control; control system synthesis; elasticity; feedback; force control; industrial manipulators; position control; time-varying systems; adaptive algorithms; adaptive force/position controllers; controller design; elastic surface; force sensor; force time-derivative feedback; industrial robot; passivity-based design; position trajectory tracking; robot manipulators; stiffness coefficient; time-varying contact force; Adaptive algorithm; Adaptive control; Algorithm design and analysis; Force feedback; Force sensors; Industrial control; Manipulators; Robot sensing systems; Service robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.760713

Filename

760713