Robust force control of a robot manipulator

Journal Article · Sat Aug 01 04:00:00 EDT 1992 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499201100404· OSTI ID:7163956

Dawson, D M ^[1]; Lewis, F L ^[2]; Dorsey, J F ^[3]

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1. Clemson Univ., SC (United States)
2. Univ. of Texas, Fort Worth (United States)
3. Georgia Inst. of Tech., Atlanta (United States)

In this article, the authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is constructed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global uniform ultimate boundedness result is obtained for the position tracking error and the force regulation error (i.e., the error between the actual manipulator impedance and desired target impedance). The controller only requires measurement of the end-effector force, joint velocity, and joint position.

• OSTI ID: 7163956
• Journal Information: International Journal of Robotics Research; (United States), Journal Name: International Journal of Robotics Research; (United States) Vol. 11:4; ISSN IJRREL; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ALGORITHMS
CONTROL
CONTROL EQUIPMENT
CONTROL SYSTEMS
ELECTRIC CONTROLLERS
EQUIPMENT
INSTABILITY
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
NAVIGATION
POSITIONING
REMOTE HANDLING EQUIPMENT
ROBOTS