This paper deals with the design of control schemes for a robot manipulator in contact with a compliant surface. A passivity-based approach is adopted in the task space, where the control law contains a nonlinear model-based term and a linear term obtained as the sum of a position action and a force action. The force control action dominates the position control action along the constrained task space direction so as to achieve force regulation at the expense of a steady-state position error. Motion control along the unconstrained task space directions is ensured. In the case of imperfect model compensation, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are developed for an industrial robot manipulator.
A passivity-based approach to force regulation and motion control of robot manipulators / Siciliano, Bruno; Villani, Luigi. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 32:(1996), pp. 443-447. [10.1016/0005-1098(95)00173-5]
A passivity-based approach to force regulation and motion control of robot manipulators
SICILIANO, BRUNO;VILLANI, LUIGI
1996
Abstract
This paper deals with the design of control schemes for a robot manipulator in contact with a compliant surface. A passivity-based approach is adopted in the task space, where the control law contains a nonlinear model-based term and a linear term obtained as the sum of a position action and a force action. The force control action dominates the position control action along the constrained task space direction so as to achieve force regulation at the expense of a steady-state position error. Motion control along the unconstrained task space directions is ensured. In the case of imperfect model compensation, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are developed for an industrial robot manipulator.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.