Force control: A bird's eye view

Schutter, Joris De; Bruyninckx, Herman; Zhu, Wen-Hong; Spong, Mark W.

doi:10.1007/bfb0015073

Cited by 70 publications

(38 citation statements)

References 18 publications

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“…As a result, different control schemes have been proposed in the literature, as surveyed by Whitney [4], De Schutter et. al [5], and Chiaverini et. al [6].…”

Section: Literature Reviewmentioning

confidence: 91%

On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

2015

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Original scientific paperThis paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force sensor located at the end-effector. Also, the structure includes a generalized active velocity damping term in order to have a control of the energy dissipation, and a term used to compensate the gravity forces of the links. The stability analysis is performed in Lyapunov sense. An experimental comparison of two new explicit force regulators and the linear proportional structure, on a three degree-of-freedom, direct-drive robot, is presented. Also, proofs of the most important properties of the Cartesian dynamic model, are presented.Key words: Interaction control, Explicit force control, Direct-drive robot, Lyapunov stability, Cartesian robot control Eksplicitna regulacija sile robotskog manipulatora aktivnim prigušenjem brzine. Ovaj rad predstavlja novu interakcijsku kontrolnu strukturu koja predstavlja skupinu exsplicitnih regulatora sile za robotske manipulatore. Predložena struktura uključuječlan klase funkcija proporcionalnog tipa u smilsu pogreške sile; pogreška sile se definira kao razlika izmeu željene sile i stvarne sile koju mjere senzori postavljeni na kraju manipulatora. Takoer, struktura uključuječlan za generalizirano aktvino prigušenje brzine kako bi se omogućila kontrola disipacije energije ičlan kojim se kompenzira utjecaj sile gravitacije načlanke manipulatora. Analiza stabilnosti je napravljena u smislu Lyapunova. Prikazana je eksperimentalna usporedba dva nova eksplicitna regulatora sile i linearno-proporcionalne strukture na robotu s direktnim pogonom i tri stupnja slobode. Takoer su prikazani dokazi najvažnijih svojstava kartezijskog dinamičnog modela.

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“…As a result, different control schemes have been proposed in the literature, as surveyed by Whitney [4], De Schutter et. al [5], and Chiaverini et. al [6].…”

Section: Literature Reviewmentioning

confidence: 91%

On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

2015

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“…• A reaction-force control layer (Section V) updates foot positions P d i and orientations Θ d i to achieve the desired P c CoPi and F c i using admittance control [9]. Finally, a quadratic-programming (QP) whole-body controller finally produces joint motions that track the CoM and foot reference trajectories [10] from the force control layer and the COM trajectory.…”

Section: Control Framework Structurementioning

confidence: 99%

“…For humanoid robots that are controlled in position, force distribution control at the feet is realized by admittance control [9]. The output from an admittance controller consists of foot orientations and relative positions, whereas its intput is given by the resultant forces and CoPs computed by the ZMP-force distributor.…”

Section: Floor Reaction Force Control Layermentioning

confidence: 99%

Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution

Pajon¹,

Caron²,

Magistri³

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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“…Several approaches have been proposed for the interaction control between the robot and the workspace; these approaches are based on hybrid control, impedance control or parallel control. A review of these approaches is detailed in [5]. So far, most of the applications developed to combine visual and force information employ hybrid control, such as studies like [1] which extend the "task frame" formalism [3].…”

Section: Introductionmentioning

confidence: 99%

Visual - Force Control and Structured Light Fusion to Improve Recognition of Discontinuities in Surfaces

Pomares

Gil

García

et al. 2006

2006 IEEE Conference on Emerging Technologies and Factory Automation

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-This paper describes a method to detect changes in given surfaces tracked by the robot end-effector. To do so, first an approach to combine visual and force information is described. By filtering the interaction forces, a parameter which provides the probability of a change in the tracking surface is obtained. In order to obtain a more accurate determination of the change in the surface, information from a laser located at the robot end-effector is also employed. Therefore, a robust method for detecting surface discontinuities which employs force and visual information jointly with structured light is presented.

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Force control: A bird's eye view

Cited by 70 publications

References 18 publications

On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution

Visual - Force Control and Structured Light Fusion to Improve Recognition of Discontinuities in Surfaces

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