This paper describes the experience of implementing impedance control on an industrial robot manipulator in contact with a compliant environment. Due to the presence of gear trains at joint axes, friction effects strongly influence the dynamic behaviour of the controlled manipulator at low velocities. Since a manipulator in contact with an environment is typically required to operate at low velocities, counteracting such effects is of the utmost importance. To the purpose, two different control strategies are experimentally tested and a performance comparison is developed in terms of position tracking capability and force response.
Experiments of impedance control on an industrial robot manipulator with joint friction / F., Bruni; F., Caccavale; C., Natale; Villani, Luigi. - STAMPA. - (1996), pp. 205-210. (Intervento presentato al convegno IEEE Conference on Control Applications tenutosi a Dearborn, MI nel September) [10.1109/CCA.1996.558631].
Experiments of impedance control on an industrial robot manipulator with joint friction
VILLANI, LUIGI
1996
Abstract
This paper describes the experience of implementing impedance control on an industrial robot manipulator in contact with a compliant environment. Due to the presence of gear trains at joint axes, friction effects strongly influence the dynamic behaviour of the controlled manipulator at low velocities. Since a manipulator in contact with an environment is typically required to operate at low velocities, counteracting such effects is of the utmost importance. To the purpose, two different control strategies are experimentally tested and a performance comparison is developed in terms of position tracking capability and force response.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
