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. - STAMPA. - (1994), pp. 3265-3270. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a San Diego, CA nel December) [10.1109/ROBOT.1994.351068].
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
