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 / S., Chiaverini; Siciliano, Bruno; Villani, Luigi. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - STAMPA. - 4:(1999), pp. 273-285. [10.1109/3516.789685]
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.