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Title: Adaptive complaint motion control for dexterous manipulators

Abstract

This article presents two adaptive schemes for compliant motion control of dexterous manipulators. The first scheme is developed using an adaptive impedance control approach for torque-controlled manipulators, whereas the second strategy is an adaptive admittance controller for position-controlled manipulators. The proposed controllers are very general and computationally efficient, as they do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment and are implemented without calculation of the inverse dynamics or inverse kinematic trans formation. It is shown that the control strategies are globally stable in the presence of bounded disturbances and that in the absence of disturbances the ultimate bound on the size of the system errors can be made arbitrarily small. The capabilities of the proposed control schemes are illustrated through both computer simulations and laboratory experiments with a dexterous Robotics Research Corporation seven-degrees-of-freedom (DOF) manipulator. 17 refs., 4 figs.

Authors:
;  [1];  [2]
  1. New Mexico State Univ., Las Cruces, NM (United States)
  2. California Inst. of Technology, Pasadena, CA (United States)
Publication Date:
Sponsoring Org.:
USDOE
OSTI Identifier:
62437
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 14; Journal Issue: 3; Other Information: PBD: Jun 1995
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; MATERIALS HANDLING EQUIPMENT; CONTROL SYSTEMS; MANIPULATORS; ROBOTS; CONTROL EQUIPMENT; MATHEMATICAL MODELS

Citation Formats

Colbaugh, R, Glass, K, and Seraji, H. Adaptive complaint motion control for dexterous manipulators. United States: N. p., 1995. Web. doi:10.1177/027836499501400305.
Colbaugh, R, Glass, K, & Seraji, H. Adaptive complaint motion control for dexterous manipulators. United States. https://doi.org/10.1177/027836499501400305
Colbaugh, R, Glass, K, and Seraji, H. Thu . "Adaptive complaint motion control for dexterous manipulators". United States. https://doi.org/10.1177/027836499501400305.
@article{osti_62437,
title = {Adaptive complaint motion control for dexterous manipulators},
author = {Colbaugh, R and Glass, K and Seraji, H},
abstractNote = {This article presents two adaptive schemes for compliant motion control of dexterous manipulators. The first scheme is developed using an adaptive impedance control approach for torque-controlled manipulators, whereas the second strategy is an adaptive admittance controller for position-controlled manipulators. The proposed controllers are very general and computationally efficient, as they do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment and are implemented without calculation of the inverse dynamics or inverse kinematic trans formation. It is shown that the control strategies are globally stable in the presence of bounded disturbances and that in the absence of disturbances the ultimate bound on the size of the system errors can be made arbitrarily small. The capabilities of the proposed control schemes are illustrated through both computer simulations and laboratory experiments with a dexterous Robotics Research Corporation seven-degrees-of-freedom (DOF) manipulator. 17 refs., 4 figs.},
doi = {10.1177/027836499501400305},
url = {https://www.osti.gov/biblio/62437}, journal = {International Journal of Robotics Research},
number = 3,
volume = 14,
place = {United States},
year = {1995},
month = {6}
}