Hybrid Position/Force Control of Manipulators

Raibert, Marc H.; Craig, John

doi:10.1115/1.3139652

Cited by 2,607 publications

(857 citation statements)

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“…This operation, sometimes called peg-in-hole in the literature, has been studied extensively. One approach to this problem is to use a hybrid forceposition control [17,19], which, through force sensing and compliant motion [11], enables a manipulator to slide along surfaces. Combined with a principled approach to dealing with uncertainty [16], a high-precision operation such as peg-in-hole can be accomplished through a set of guarded-moves.…”

Section: For Precise Detailsmentioning

confidence: 99%

Towards Coordinated Precision Assembly with Robot Teams

Dogar¹,

Knepper²,

Spielberg³

et al. 2015

Experimental Robotics

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Abstract. We present a system in which a flexible team of robots coordinate to assemble large, complex, and diverse structures autonomously. Our system operates across a wide range of spatial scales and tolerances, using a hierarchical perception architecture. For the successful execution of very precise assembly operations under initial uncertainty, our system starts with high-field of view but low accuracy sensors, and gradually use low field-of-view but high accuracy sensors. Our system also uses a failure detection and recovery system, integrated with this hierarchical perception architecture: upon losing track of a feature, our system retracts to using high-field of view systems to re-localize. Additionally, we contribute manipulation skills and tools necessary to assemble large structures with high precision. First, the team of robots coordinate to transport large assembly parts which are too heavy for a single robot to carry. Second, we develop a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening. We present real robot experiments where we measure the contribution of the hierarchical perception and failure recovery approach to the robustness of our system. We also present an extensive set of experiments where our robots successfully insert all 80 of the attempted fastener insertion operations.

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Section: For Precise Detailsmentioning

confidence: 99%

Towards Coordinated Precision Assembly with Robot Teams

Dogar¹,

Knepper²,

Spielberg³

et al. 2015

Experimental Robotics

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show abstract

“…By applying control (6) or (7) the motion of the system (1) during reaching phase becomes (11) (12) what represents second order system transient determined by the design parameters Γ Γ, G, H and D.…”

Section: Modification Of System Configuration In Smcmentioning

confidence: 99%

Sliding modes in motion control systems

Şabanoviç

Jezernik

2004

Variable Structure Systems: From Principles to Implementation

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In this paper we discuss the realization of motion control systems in the sliding mode control (SMC) framework. Any motion control system design should take into account the unconstrained motion (generally perceived as a trajectory tracking) and motion of the system in contact with unknown environment (perceived as force control and/or compliance control.) In the SMC framework control is selected to enforce certain preselected dependence among system coordinates, what is interpreted as forcing the system state to stay in selected manifold in state space. In this paper it has been shown that such a formulation allows a unified treatment of the both unconstrained and constrained motion control and, due to the Lyapunov based design, it guaranty the stability of the motion. Moreover control design in this framework allows extension of the solution to control design in interconnected dynamical systems (like mobile robots or bilateral systems).

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“…This can pose a problem when the stochastic nature of the environment is weighed against the deterministic nature of system models, causing inaccuracies in interaction force. More sophisticated methods to counteract static and dynamic effects on interaction force have been a topic of much study for motor-driven, active, devices to enable accommodation of simultaneous motion and force control [7][8][9]. These interaction controllers come in several varieties such as parallel force/position [8] and hybrid force/position [9].…”

Section: Introductionmentioning

confidence: 99%

“…More sophisticated methods to counteract static and dynamic effects on interaction force have been a topic of much study for motor-driven, active, devices to enable accommodation of simultaneous motion and force control [7][8][9]. These interaction controllers come in several varieties such as parallel force/position [8] and hybrid force/position [9]. The concept is to close an outer force loop around the inner position or velocity loop with integral action on the force error.…”

Section: Introductionmentioning

confidence: 99%

Interaction control for a brake actuated manipulator

Dellon

Matsuoka

2010

2010 IEEE Haptics Symposium

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If a passively actuated physical human-robot interaction (pHRI) device could produce the transparency and controllability of an active device, the safety standard of pHRI could dramatically improve. This is critical since pHRI devices are being developed for rehabilitation or assistance where the user may not be able to provide full strength or speed to counteract accidental movements caused by a motor driven robot. This paper demonstrates effective friction compensation and an interaction controller that increases overall transparency of a passively actuated pHRI device, the Brake Actuated Manipulator (BAM). We analyze the friction compensator's stability with passivity theory, and evaluate the proposed interaction control scheme on the BAM with real time experiments during display of virtual environments composed of non-linear Coulomb or viscous friction. Results show excellent force tracking performance during display, and indicate that passively actuated pHRI devices can be transparent despite notions that brakes are poor actuators.

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Hybrid Position/Force Control of Manipulators

Cited by 2,607 publications

References 0 publications

Towards Coordinated Precision Assembly with Robot Teams

Towards Coordinated Precision Assembly with Robot Teams

Sliding modes in motion control systems

Interaction control for a brake actuated manipulator

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