Journal ArticleDOI
Resolved-acceleration control of robot manipulators: A critical review with experiments
TLDR
A critical review of the well-known resolved-acceleration technique for the tracking control problem of robot manipulators in the task space is provided and an alternative Euler angles feedback scheme is proposed which shows an advantage in terms of avoidance of representation singularities.Abstract:
The goal of this paper is to provide a critical review of the well-known resolved-acceleration technique for the tracking control problem of robot manipulators in the task space. Various control schemes are surveyed and classified according to the type of end-effector orientation error; namely, those based on Euler angles feedback, quaternion feedback, and angle/axis feedback. In addition to the assessed schemes in the literature, an alternative Euler angles feedback scheme is proposed which shows an advantage in terms of avoidance of representation singularities. An insight into the features of each scheme is given, with special concern to the stability properties of those schemes leading to nonlinear closed-loop dynamic equations. A comparison is carried out in terms of computational burden. Experiments on an industrial robot with open control architecture have been carried out, and the tracking performance of the resolved-acceleration control schemes in a case study involving the occurrence of a representation singularity is evaluated. The pros and cons of each scheme are evidenced in a final discussion focused on practical implementation issues.read more
Citations
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Journal ArticleDOI
Operational Space Control: A Theoretical and Empirical Comparison
TL;DR: An extensive empirical results demonstrate that one of the simplified acceleration-based approaches can be advantageous in terms of task performance, ease of parameter tuning, and general robustness and compliance in the face of inevitable modeling errors.
Journal ArticleDOI
Six-DOF impedance control based on angle/axis representations
TL;DR: A new approach to 6-DOF impedance control is proposed, where the end-effector orientation displacement is derived from the rotation matrix expressing the mutual orientation between the compliant frame and the desired frame.
Journal ArticleDOI
Task-Space Control of Robot Manipulators With Null-Space Compliance
TL;DR: The proposed approach guarantees correct task execution and compliance of the robot's body during intentional or accidental interaction in the null space of the main task, simultaneously.
Journal ArticleDOI
Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm
Andrea Carron,Elena Arcari,Martin Wermelinger,Lukas Hewing,Marco Hutter,Melanie N. Zeilinger +5 more
TL;DR: A model-based control approach, which makes use of data gathered during operation to improve the model of the robotic arm and thereby the tracking performance, and shows how offset-free tracking can be achieved by augmenting a nominal model with both a Gaussian process and an additive disturbance model suitable for efficient online estimation of the residual disturbance via an extended Kalman filter.
Journal ArticleDOI
The Tricept robot: dynamics and impedance control
TL;DR: In this paper, the authors focus on the derivation of a dynamic model to be used for both simulation and control purposes, and a model-based control is derived aimed at enforcing a 6-DOF impedance behavior at the end effector to manage interaction with the environment.
References
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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
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.
Book
Modeling and Control of Robot Manipulators
TL;DR: In this paper, the authors provide a guide to the foundations of robotics: modelling, mechanics and control, including kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
Journal ArticleDOI
The attitude control problem
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Journal ArticleDOI
Quaternion kinematic and dynamic differential equations
TL;DR: The kinematic and dynamic differential equations are further shown to be invertible due to the fact that they are written in quaternion space, and the highest order term of the rotation parameters can be expressed explicitly in closed form.