Compliance and Force Control for Computer Controlled Manipulators
Matthew T. Mason
- Vol. 11, Iss: 6, pp 418-432
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A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.Abstract:
Compliant motion of a manipulator occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built in to the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this paper. In particular a theory of force control based on formal models of the manipulator and the task geometry is presented. The ideal effector is used to model the manipulator, the ideal surface is used to model the task geometry, and the goal trajectory is used to model the desired behavior of the manipulator. Models are also defined for position control and force control, providing a precise semantics for compliant motion primitives in manipulation programming languages. The formalism serves as a simple interface between the manipulator and the programmer, isolating the programmer from the fundamental complexity of low-level manipulator control. A method of automatically synthesizing a restricted class of manipulator programs based on the formal models of task and goal trajectory is also provided by the formalism.read more
Citations
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
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A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Proceedings ArticleDOI
Active stiffness control of a manipulator in cartesian coordinates
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.
References
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Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI
On-Line Computational Scheme for Mechanical Manipulators
Journal ArticleDOI
Resolved-acceleration control of mechanical manipulators
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.
Proceedings ArticleDOI
Active stiffness control of a manipulator in cartesian coordinates
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.