Journal ArticleDOI
Position and force control for constrained manipulator motion: Lyapunov's direct method
Danwei Wang,N.H. McClamroch +1 more
- Vol. 9, Iss: 3, pp 308-313
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A design procedure for simultaneous position and force control is developed, using Lyapunov's direct method, for manipulators in contact with a rigid environment that can be described by holonomic constraints.Abstract:
A design procedure for simultaneous position and force control is developed, using Lyapunov's direct method, for manipulators in contact with a rigid environment that can be described by holonomic constraints. Many manipulators that interact with their environment require taking into account the effects of these constraints in the control design. The forces of constraint play a critical role in constrained motion and are, along with displacements and velocities, to be regulated at specified values. Lyapunov's direct method is used to develop a class of position and force feedback controllers. The conditions for gain selection demonstrate the importance of the constraints. Force feedback has been shown not to be mandatory for closed-loop stabilization, but it is useful in improving certain closed-loop robustness properties. >read more
Citations
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Journal ArticleDOI
An overview of robot force control
Ganwen Zeng,A. Hemami +1 more
TL;DR: This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers, and provides a pragmatic exposition with speciality on their differences and different application conditions.
Journal ArticleDOI
Contouring control of machine tool feed drive systems: a task coordinate frame approach
TL;DR: Experimental results of the proposed control law on the motion axes of a machining center, Matsuura MC510V, showed significant improvement of the contouring accuracy compared to the existing servo controller as well as the successful decoupling between the tangential dynamics and the normal (contouring) dynamics for feedrate up to 6 m/min (4 in/s).
Journal ArticleDOI
Learning impedance control for robotic manipulators
Chien Chern Cheah,Danwei Wang +1 more
TL;DR: A learning impedance control problem for robotic manipulators is formulated and solved where a target impedance is specified and a learning controller is designed such that the system follows the desired response specified by the target model as the actions are repeated.
Journal ArticleDOI
Brief Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties
TL;DR: Stability and setpoint control problems of constrained robot with kinematics and dynamics uncertainties are formulated and solved and it is shown that the manipulator end-effector's motion is asymptotically stable even in the presence of such uncertainties.
Proceedings ArticleDOI
Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks
TL;DR: A similar automatic motor behavior for a robot is developed and a trajectory tracking task demonstrates that the robot is able to adapt to different loads during motion.
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
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.
Journal ArticleDOI
A new feedback method for dynamic control of manipulators
Morikazu Takegaki,Suguru Arimoto +1 more
TL;DR: A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics and it is shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large.
Journal ArticleDOI
Feedback stabilization and tracking of constrained robots
N.H. McClamroch,Danwei Wang +1 more
TL;DR: In this paper, the effects of constraint force required to maintain satisfaction of the constraints are considered, and conditions for stabilization and tracking using feedback are developed using mathematical models for constrained robot dynamics.