Learning hybrid force and position control of robot manipulators

Jeon, Doyoung; Tomizuka, Masayoshi

doi:10.1109/robot.1992.220146

Cited by 32 publications

(34 citation statements)

References 11 publications

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“…If the manipulator performs a constrained motion, it is clear that it is not possible to achieve the control objective (11). In this case, in a similar manner to that of the classical stiffness control [18] designed for static behaviour, the control objective for a constrained motion consists of applying a force to the environment with the end-effector at the contact point, given by…”

Section: Defining a Control Problemmentioning

confidence: 99%

“…In order to achieve the control objective for unconstrained motion given by (11), and in order to satisfy our definition of an indirect stiffness-control approach with the control objective for constrained motion given in (13), a new structure for controllers is proposed as follows,…”

Section: Defining a Control Problemmentioning

confidence: 99%

“…Direct methods involve an explicit form representation of force-feedback, while in indirect methods force-feedback is not explicit but rather is regulated using the position of the end-effector. Among the most important direct interaction control approaches, we might consider explicit force control [5][6][7], hybrid force/ position control [8][9][10][11][12][13][14][15] and parallel force/motion control [16,17]. Meanwhile, among the most relevant indirect interaction control approaches, the stiffness control [18][19][20][21][22] and impedance control approaches [2, 4, 23 -29] might be considered.…”

Section: Introductionmentioning

confidence: 99%

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On Stiffness Regulators with Dissipative Injection for Robot Manipulators

Chávez-Olivares

Reyes-Cortés

González-Galván

2015

International Journal of Advanced Robotic Systems

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The stiffness controller proposed by Salisbury is an interaction control strategy designed to achieve a desired form of static behavior as regards the interaction of a robot manipulator with the environment. The main idea behind this approach is the simulation of a multidimensional linear spring -or linear elastic material -using the difference between the actual position of the end-effector and a constant position (relaxed point), multiplied by a constant stiffness matrix. In this paper, this idea is generalized with the objective of proposing a controller structure that includes a family of stiffness models based on the idea of linear elastic materials. The new controller structure also includes a damping term in order to have control over energy dissipation, as well as a term added for the purpose of compensating the gravity forces of the links. The stability analysis of the proposed controller was performed in the Lyapunov sense. The new stiffness controller is presented as a case study and compared to other cases, such as the Salisbury controller (Cartesian PD) and the tanh-tanh controller. Experimental results using a three degrees-offreedom direct-drive robot for the evaluation of controllers in a constrained motion task are presented.

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Section: Defining a Control Problemmentioning

confidence: 99%

Section: Defining a Control Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

On Stiffness Regulators with Dissipative Injection for Robot Manipulators

Chávez-Olivares

Reyes-Cortés

González-Galván

2015

International Journal of Advanced Robotic Systems

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show abstract

“…Among the most important indirect interaction control approaches are stiffness control [8][9][10][11][12] and impedance control [1,2,[13][14][15]. While, among the main direct interaction control approaches, we can consider the explicit force control [16][17][18], the hybrid force/position control [19][20][21][22][23] and the parallel force/motion control [24,25].…”

Section: Literature Reviewmentioning

confidence: 99%

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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“…A switched system consists of a number of subsystems, either continuous-time or discrete-time dynamic systems, and a switching law, which orchestrates the switching between the subsystems. The applications in computer disc drives (Gollu & Varaiya, 1989), some robot control systems (Jeon & Tomizuka, 1993), the cart-pendulum sys-tems (Zhao & Spong, 2001), and other engineering systems indicate that switched systems have extensive practice background. Therefore, it has both theoretical significance and practical value to study switched systems.…”

Section: Introductionmentioning

confidence: 99%

Reliable H∞ Control for a Class of Switched Nonlinear Systems

Wang

Zhao

Dimirovski

2005

IFAC Proceedings Volumes

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This paper focuses on the problem of reliable H ∞ control for a class of switched nonlinear systems with actuator failures among a prespecified subset of actuators. In existing works, the reliable H ∞ design methods are all based on a basic assumption that the never failed actuators must stabilize the given system. But when actuators suffer "serious failure"-the never failed actuators can not stabilize the given system, the standard design methods of reliable H ∞ control do not work. Based on the switching technique, the problem can be solved by means of switching among subsystems or finite candidate controllers.Copyright c 2005 IFAC

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Learning hybrid force and position control of robot manipulators

Cited by 32 publications

References 11 publications

On Stiffness Regulators with Dissipative Injection for Robot Manipulators

On Stiffness Regulators with Dissipative Injection for Robot Manipulators

On Explicit Force Regulation with Active Velocity Damping for Robot Manipulators

Reliable H∞ Control for a Class of Switched Nonlinear Systems

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