A great many control schemes for a robot manipulator interacting with the environment have been developed in the literature in the past two decades. This paper is aimed at presenting a survey of robot interaction control schemes for a manipulator, the end effector of which comes in contact with a compliant surface. A salient feature of the work is the implementation of the schemes on an industrial robot with open control architecture equipped with a wrist force sensor. Two classes of control strategies are considered, namely, those based on static model-based compensation and those based on dynamic model-based compensation. The former provide a good steady-state behavior, while the latter enhance the behavior during the transient. The performance of the various schemes is compared in the light of disturbance rejection, and a thorough analysis is developed by means of a number of case studies.

A survey of robot interaction control schemes with experimental comparison

SICILIANO, BRUNO;VILLANI, LUIGI
1999

Abstract

A great many control schemes for a robot manipulator interacting with the environment have been developed in the literature in the past two decades. This paper is aimed at presenting a survey of robot interaction control schemes for a manipulator, the end effector of which comes in contact with a compliant surface. A salient feature of the work is the implementation of the schemes on an industrial robot with open control architecture equipped with a wrist force sensor. Two classes of control strategies are considered, namely, those based on static model-based compensation and those based on dynamic model-based compensation. The former provide a good steady-state behavior, while the latter enhance the behavior during the transient. The performance of the various schemes is compared in the light of disturbance rejection, and a thorough analysis is developed by means of a number of case studies.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/464926
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 197
  • ???jsp.display-item.citation.isi??? 154
social impact