A Joint Space Formulation for Compliant Motion Control of Robot Manipulators
Date
2005
Authors
Shen, Yueshi
Hueper, Knut
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.
Description
Keywords
Keywords: Closed loop control systems; Computer simulation; Force control; Manipulators; Robots; Robustness (control systems); Closed-loop dynamics; Compliant motion control; Joint space; Projectors; Robot manipulators; Motion control Compliant motion control; Hybrid motion/force control; Joint space; Projector; Robot manipulator
Citation
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Source
Proceedings of the IEEE International Conference on Mechatronics and Automation
Type
Conference paper