Review and Unification of Reduced Order Force Control Methods

Grabbe, Michael T.; Carroll, J. J.; Dawson, D.M.; Qu, Zhihua

doi:10.23919/acc.1992.4792174

Cited by 13 publications

(4 citation statements)

References 1 publication

(1 reference statement)

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“…Given that the main purpose of this paper is to present experimental results, we will use this section to briefly highlight the important points found in the theoretical developments described by Grabbe et al, 2 and to make clear the various terms found in the final control law.…”

Section: Dynamic Models and Constraintsmentioning

confidence: 99%

“…An adaptive motion control scheme was developed 89 which was based on the constrained joint-space robot model formulation given in reference 1. Grabbe et al 2 developed a robust controller based on work in reference 1 to compensate for parametric uncertainty and additive bounded disturbances. Other work concerning constrained robot manipulation is given in references 10-14.…”

Section: Introductionmentioning

confidence: 99%

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Experimental results for a robust position and force controller implemented on a direct drive robot

Bridges¹,

Cai²,

Dawson³

et al. 1995

Robotica

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SummaryIn this paper we present the results obtained from the implementation of a robust position/force controller on a two-degree-of-freedom direct drive robot. The controller is based on the theoretical work presented in references 1 & 2, which guarantees Globally Uniformly Ultimately Bounded (GUUB) position tracking error and bounded force tracking error. The controller accomplishes this stability result in spite of robot model uncertainty and only requires; joint position and velocity measurements, end-effector force measurements, and bounds on the model parameters. Experimental results described in this paper serve to verify the theoretical claims.

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Section: Dynamic Models and Constraintsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Experimental results for a robust position and force controller implemented on a direct drive robot

Bridges¹,

Cai²,

Dawson³

et al. 1995

Robotica

View full text Add to dashboard Cite

show abstract

“…This important research area has recently attracted the attention of many researchers, and interesting results related to state variable representation, feedback linearization, and control and stabilization of constrained dynamic systems have been reported. [13][14][15][16][17][18][19][20][21][22][23] Sliding mode controllers for contrained motion and force control have been de-~i g n e d .~~,~ However, in these papers, position and force control of robotic arms with only rigid links have been considered. Some research related to position and force control of robots with elastic joints has been also done.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties

Yim

Singh

1995

J. Robotic Syst.

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This article considers the question of position and force control of three‐link elastic robotic systems on a constraint surface in the presence of robot parameter and environmental constraint geometry uncertainties. The approach of this article is applicable to any multi‐link elastic robot. A sliding mode control law is derived for the position and force trajectory control of manipulator. Unlike the rigid robots, sliding mode control of an end point gives rise to unstable zero dynamics. Instability of the zero dynamics is avoided by Controlling a point that lies in the neighborhood of the actual end point position. The sliding mode controller accomplishes tracking of the end‐effector and force trajectories on the constrained surface; however, the maneuver of the arm causes elastic mode excitation. For point‐to‐point control on the constraint surface, a stabilizer is designed for the final capture of the terminal state and vibration suppression. Numerical results are presented to show that in the closed‐loop system position and force control is accomplished in spite of payload and constraint surface geometry uncertainty. © 1995 John Wiley & Sons, Inc.

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“…This intensive study has produced many approaches to achieving compliant motion, including hybrid position/force control, 1 " 3 impedance control,*"* admittance control, 7 and reduced-order force control. 8 " 10 It is interesting to briefly characterize these strategies, in terms of the control objective associated with the "compliant part" of the task. From this perspective, two broad classes of compliant motion control schemes can be identified: force controllers and impedance controllers.…”

Section: Introductionmentioning

confidence: 99%

Decentralized adaptive compliance control of robot manipulators

Colbaugh

Glass

1995

Robotica

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SummaryThis paper presents two adaptive schemes for controlling the end-effector compliance of robot manipulators. Each controller possesses a decentralized structure, in which the control input for each configuration degree-offreedom (DOF) is computed based on information concerning only that DOF. The first scheme is developed using an adaptive impedance control approach and consists of two subsystems: a simple “filter” which modifies the end-effector position trajectory based on the sensed contact force and the desired dynamic relationship between the position and force, and an adaptive controller that produces the joint torques required to track this modified trajectory. The second compliant motion control strategy is an adaptive admittance controller for position-controlled manipulators. In this scheme a desired contact force is specified and then position setpoints for the “inner-loop” position controller are generated which ensure that this desired force is achieved. The proposed controllers are extremely simple computationally, do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment, and are implemented in decentralized form.

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Review and Unification of Reduced Order Force Control Methods

Cited by 13 publications

References 1 publication

Experimental results for a robust position and force controller implemented on a direct drive robot

Experimental results for a robust position and force controller implemented on a direct drive robot

Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties

Decentralized adaptive compliance control of robot manipulators

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