Journal ArticleDOI
Compliant motion control for robot manipulators
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TLDR
In this paper, a non-linear controller design methodology is presented for robot manipulators guaranteeing that the robot end point follows an input command vector "closelj" when the robot is not constrained by the environment, and that the contact force is a function of the same input command vectors (used in the unconstrained environment) when a robot is constrained by an environment.Abstract:
A practical, non-linear controller design methodology is presented for robot manipulators guaranteeing that the robot end-point follows an input command vector ‘closelj’ when the robot is not constrained by the environment, and that the contact force is a function of the same input command vector (used in the unconstrained environment) when the robot is constrained by the environment. The controller is capable of ‘handling’ both types of constrained and uncon5trained manoeuvres, and is robust to bounded uncertainties in the robot dynamics. The controller does not need any hardware or software switch for the transition between unconstrained and constrained manoeuvring. Stability of the environment and the manipulator taken as a whole has been investigated, and a bound for stable manipulation has been derived. For stability, there must be some initial compliancy either in the robot or in the environment. A unified approach to modelling robot dynamics is expressed in terms of sensirivity functions, ...read more
Citations
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Journal ArticleDOI
Passivity-based control of robotic manipulators for safe cooperation with humans
TL;DR: This paper presents a novel approach to the control of articulated robots in unstructured environments that makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans.
Journal ArticleDOI
Real-time motion control of robotic manipulators for safe human–robot coexistence
Kelly Merckaert,Kelly Merckaert,Bryan Convens,Bryan Convens,Chi-ju Wu,Alessandro Roncone,Marco M. Nicotra,Bram Vanderborght,Bram Vanderborght +8 more
TL;DR: A computationally efficient control scheme for safe human–robot interaction that relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans.
Journal ArticleDOI
Application of MRAC theory for adaptive control of a constrained robot manipulator
TL;DR: In this article, the authors proposed an adaptive control scheme for compliant motion of a robot manipulator under a constrained environment, which allows the manipulator to adapt to the unknown surface of the surrounding environment and to have close contact with the curved surface.
Journal ArticleDOI
Real-time motion control of robotic manipulators for safe human–robot coexistence
TL;DR: In this paper , the Explicit Reference Governor (ERG) formalism is used to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans.
Proceedings ArticleDOI
Adaptive impedance control of redundant manipulators
TL;DR: In this paper, a scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. Butts et al. proposed a control system consisting of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F in R/sup m/ required to provide the desired end- effector impedance characteristics, and an algorithm that maps this control input to the joint torque T in R /sup n/.
References
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Book
Nonlinear Systems Analysis
TL;DR: In this article, the authors consider non-linear differential equations with unique solutions, and prove the Kalman-Yacubovitch Lemma and the Frobenius Theorem.
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.
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.
Book
Feedback Systems: Input-output Properties
TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.
Journal ArticleDOI
Compliance and Force Control for Computer Controlled Manipulators
TL;DR: 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.