In this paper we propose a force/position control scheme in a 6-DOF task space which is a generalization of the parallel control scheme in a 3-DOF task space. The controller consists of a PD action on the position loop, a PI action on the force loop together with gravity compensation and feedforward of the desired contact force. Kinestatic filtering is not used in the scheme. Euler parameters are adopted to describe end-effector orientation. The model of interaction wrench (force and moment) is formulated with a generalized spring. Stability of the proposed scheme is established through the Lyapunov method.

Stability analysis of 6-DOF force/position control for robot manipulators / J. T., Gravdahl; O., Egeland; Siciliano, Bruno; S., Chiaverini. - STAMPA. - 3:(1994), pp. 2408-2409. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a December nel 1994) [10.1109/CDC.1994.411454].

Stability analysis of 6-DOF force/position control for robot manipulators

SICILIANO, BRUNO;
1994

Abstract

In this paper we propose a force/position control scheme in a 6-DOF task space which is a generalization of the parallel control scheme in a 3-DOF task space. The controller consists of a PD action on the position loop, a PI action on the force loop together with gravity compensation and feedforward of the desired contact force. Kinestatic filtering is not used in the scheme. Euler parameters are adopted to describe end-effector orientation. The model of interaction wrench (force and moment) is formulated with a generalized spring. Stability of the proposed scheme is established through the Lyapunov method.
1994
0780319680
Stability analysis of 6-DOF force/position control for robot manipulators / J. T., Gravdahl; O., Egeland; Siciliano, Bruno; S., Chiaverini. - STAMPA. - 3:(1994), pp. 2408-2409. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a December nel 1994) [10.1109/CDC.1994.411454].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/486156
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 2
social impact