Proceedings ArticleDOI
Force-position-velocity control with self-tuning for robotic manipulators
Antti J. Koivo
- Vol. 3, pp 1563-1568
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TLDR
The adaptive controller for force-path control introduced here has the form similar to that of hybrid force/position controller of [5], but with time varying gains.Abstract:
The force-path control of a robotic manipulator is presented here in the joint and in the Cartesian coordinate systems. An autoregressive model with external excitation (ARX-model) is introduced for designing an adaptive controller with self-tuning. The controller minimizes the conditional expectation of the sum of a quadratic position (velocity) error and a quadratic force error while satisfying the constraint of the ARX-model with the estimates substituted for the unknown parameters. The basic approach is used to obtain an adaptive controller which operates on the variables expressed in the joint coordinates. Another adaptive controller is similarly determined for the system variables of the Cartesian coordinate system. The adaptive controller for force-path control introduced here has the form similar to that of hybrid force/position controller of [5], but with time varying gains.read more
Citations
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Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Proceedings ArticleDOI
Adaptive manipulator control a case study
TL;DR: These experimental results demonstrate that the adaptive controller enjoys essentially the same level of robustness to unmodelled dynamics as a PD controller, yet achieves much better tracking accuracy than either PD or computed-torque schemes.
Journal ArticleDOI
Robot force control: A review
TL;DR: In this paper, the authors present a systematic overview of the basic ideas in force control of manipulators (RM) and the problems of modeling robot-environment force interaction, adequate task description and combined position/force control.
Journal ArticleDOI
Adaptive control of manipulators containing closed kinematic loops
TL;DR: A novel algorithm for the adaptive control of a robot manipulator which may contain closed kinematic loops is described, similar to the Newton-Euler inverse dynamics algorithm and obtains its computational efficiency through the recursive nature of the algorithm.
Journal ArticleDOI
Adaptive fuzzy controllers of a robot manipulator
S. S. Neo,Meng Joo Er +1 more
TL;DR: Two adaptive fuzzy robot control algorithms, which employ tracking errors of the joint motion to drive the parameter adaptation, are derived and are shown to be robust and stable.
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
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.
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.
Proceedings ArticleDOI
Joint torque control by a direct feedback for industrial robots
TL;DR: Based on the experimental findings of Wu and Paul [17], two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges, and the resulting control systems reduced the effective frictional torques of the joints from 1072 oz.in to 33.5oz.in this paper.