The problem of designing a control scheme for robot manipulators in contact with a compliant surface is considered in this work. A passivity-based force/position control scheme is designed. A keen choice of the reference vector used in the control law is proposed as a function of the end-effector position and velocity errors and the integral of the contact force error. It is demonstrated that the scheme ensures tracking of the unconstrained components of the desired end-effector trajectory with regulation of the desired contact force along the constrained direction. In the imperfect model compensation case, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are presented for an industrial robot manipulator.

A passivity-based force/position control scheme for robot manipulators

SICILIANO, BRUNO;VILLANI, LUIGI
1994

Abstract

The problem of designing a control scheme for robot manipulators in contact with a compliant surface is considered in this work. A passivity-based force/position control scheme is designed. A keen choice of the reference vector used in the control law is proposed as a function of the end-effector position and velocity errors and the integral of the contact force error. It is demonstrated that the scheme ensures tracking of the unconstrained components of the desired end-effector trajectory with regulation of the desired contact force along the constrained direction. In the imperfect model compensation case, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are presented for an industrial robot manipulator.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/478046
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