In the framework of parallel force/position control for a robot manipulator in contact with a compliant environment, a new scheme is proposed which is aimed at controlling the end-effector force in the face of uncertainty on the surface stiffness. The controller is of inverse dynamics type with a force feedforward action. Adaptation to unknown stiffness is achieved by resorting to a suitable estimate update law driven by the force error. Tracking of both position along the unconstrained directions and force along the constrained direction is ensured. Experimental results on an industrial robot with open control architecture are presented.
Parallel force/position control with stiffness adaptation / S., Chiaverini; Siciliano, Bruno; Villani, Luigi. - STAMPA. - 2:(1997), pp. 1136-1141. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Albuquerque, NM nel April) [10.1109/ROBOT.1997.614290].
Parallel force/position control with stiffness adaptation
SICILIANO, BRUNO;VILLANI, LUIGI
1997
Abstract
In the framework of parallel force/position control for a robot manipulator in contact with a compliant environment, a new scheme is proposed which is aimed at controlling the end-effector force in the face of uncertainty on the surface stiffness. The controller is of inverse dynamics type with a force feedforward action. Adaptation to unknown stiffness is achieved by resorting to a suitable estimate update law driven by the force error. Tracking of both position along the unconstrained directions and force along the constrained direction is ensured. Experimental results on an industrial robot with open control architecture are presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
