Learning hybrid force and position control of robot manipulators

Journal Article · Sun Aug 01 04:00:00 EDT 1993 · IEEE Transactions on Robotics and Automation

DOI:https://doi.org/10.1109/70.246053· OSTI ID:142459

Jeon, Doyoung ^[1]; Tomizuka, Masayoshi ^[1]

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1. Univ. of California, Berkeley, CA (United States). Dept. of Mechanical Engineering

When a robot performs the same task repeatedly, a learning controller can enhance the performance of the system significantly. The learning control, however, has not been studied in the force control of robot manipulators as extensively as in the position control of robot manipulators. In this paper, the learning control is applied to hybrid force and position control of robot manipulators. When the geometry and position of a constraint surface is known, the hybrid force and position controller and the feedforward compensator can be designed in the constraint coordinates. When the operation is periodic, the learning hybrid force and position control enhances the control performance as the feedforward compensator is updated in each cycle by the force and position error in the preceding trials. This scheme is proved to be asymptotically stable. A two degree of freedom SCARA-type direct-drive robot manipulator is used to test the learning hybrid force and position control. The deburring tool mounted on the upper link of the robot could follow a flat, tilted flat, and curved 1/4 inch aluminum plate with a desired contact force of 10 N (within the root-mean-square force error of 1.95 N) and with a desired tangential velocity. The experiments confirmed the effectiveness of the learning hybrid force and position controller.

• OSTI ID: 142459
• Journal Information: IEEE Transactions on Robotics and Automation, Journal Name: IEEE Transactions on Robotics and Automation Journal Issue: 4 Vol. 9; ISSN 1042-296X; ISSN IRAUEZ
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
CONTROL THEORY
MANIPULATORS
ROBOTS