Experiments in contact control

Seraji, H.; Lim, D. Scott; Steele, Robert David

doi:10.1002/(sici)1097-4563(199602)13:2<53::aid-rob1>3.0.co;2-t

Cited by 22 publications

(15 citation statements)

References 14 publications

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“…The impedance control [10], [13] aims at controlling position and force by establishing desired contact dynamics while the force control [19] commands the system to track a force set-point directly. For this work we adopted a class of nonlinear controller presented by our collaborator H. Seraji [20], [21], [22]. When the system detects contact with the fingertip, it switches to force control as depicted in Figure 8.…”

Section: Contact Force Controlmentioning

confidence: 99%

Fingertip force control with embedded fiber Bragg grating sensors

Park¹,

Ryu²,

Black

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of arthropod limbs, with integral strain sensilla concentrated near the joints. The use of fiber Bragg gratings (FBGs) allows for embedded sensors with high strain sensitivity and immunity to electromagnetic interference. The embedded sensors are useful for contact detection and for control of forces during fine manipulation. The application to force control requires precise and high-bandwidth measurement of contact forces. We present a nonlinear force control approach that combines signals from an optical interrogator and conventional joint angle sensors to achieve accurate tracking of desired contact forces.

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Section: Contact Force Controlmentioning

confidence: 99%

Fingertip force control with embedded fiber Bragg grating sensors

Park¹,

Ryu²,

Black

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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“…Suppose that the robot impacts the environmental surface with a nonzero approaching velocity at time , the system kinetic energy at any time is governed by (5) where is the initial kinetic energy, and , , and are the actuating work, the work done by the reaction force, and the kinetic energy at time , respectively. They are determined by (6) Assuming is constant and the initial velocity vanishes at point at time , and substituting (4) and (6) into (5) yield when (7) in which is the potential energy possessed by the environment, is the energy dissipated by the environment, and is the energy consumed by the velocity feedback. It is obvious that the velocity feedback plays a role similar to the damping factor , in terms of dissipation of the initial kinetic energy generated by the nonzero impact speed.…”

Section: A Contact Transition Control Incorporating Only Velocity Fementioning

confidence: 99%

“…Hogan [5] implemented impedance control in experiments involving contact transitions and achieved stability against a stiff environment, while Vossoughi and Donath [6] employed impedance methods for environments with varying stiffnesses. Serajia et al [7], [8] integrated hybrid position/force control with impedance control for employing force feedback to enable the robot to achieve a desired contact force. Youcef-Toumi and Guts [9] developed a dimensionless representation of impact behavior and used integral force compensation with velocity feedback to improve impact response, while Khatib and Burdick [10] presented a method for dissipating impact oscillations by increasing the velocity gains of a proportional-derivative force controller.…”

Section: Introductionmentioning

confidence: 99%

Experimental study of contact transition control incorporating joint acceleration feedback

Wang

Han

Tso

2000

IEEE/ASME Trans. Mechatron.

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Abstract-Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters. A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated.

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“…Hogan [5] implemented impedance control in experiments involving contact transitions and achieved stability against a stiff environment, while Vossoughi and Donath [6] employed impedance methods for environments with varying stiffnesses. Serajia and Collaugh [7], [8] integrated the hybrid position/force control and impedance control for employing force feedback to enable the robot to achieve a desired contact force. Youcef-Toumi and Guts [9] developed a dimensionless representation of impact behavior and used integral force compensation with velocity feedback to improve impact response, while Khatib and Burdick [10] presented a method for dissipating impact oscillations by increasing the velocity gains of a proportional-derivative force controller.…”

Section: Introductionmentioning

confidence: 99%

Contact transition control via joint acceleration feedback

Wang

Han

Tso

et al. 2000

IEEE Trans. Ind. Electron.

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Abstract-Stable and controllable transition from free motion to constrained motion is of central importance for robots in contact with environment in many applications. In this paper, a joint acceleration feedback control of high bandwidth is employed to damp oscillations during the contact transition when the approaching speed does not vanish. In this control scheme, a classical integral force controller is refined by means of joint acceleration and velocity feedback. This is intended to achieve a stable contact transition without need of adjusting the controller parameters adaptive to the unknown or changing environments. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for the environments of various stiffnesses, including elastic (sponge), less-elastic (cardboard), and hard (steel plate) surfaces. Results are also compared with those by the transition control without the acceleration feedback. The proposed scheme is shown to be promising in terms of robustness, stability, and adaptability.

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Experiments in contact control

Cited by 22 publications

References 14 publications

Fingertip force control with embedded fiber Bragg grating sensors

Fingertip force control with embedded fiber Bragg grating sensors

Experimental study of contact transition control incorporating joint acceleration feedback

Contact transition control via joint acceleration feedback

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