Details
| Original language | English |
|---|---|
| Pages (from-to) | 133-150 |
| Number of pages | 18 |
| Journal | Dynamics and Control |
| Volume | 1 |
| Issue number | 2 |
| Publication status | Published - May 1991 |
| Externally published | Yes |
Abstract
The increasing utilization of robotic manipulators in industrial tasks, such as assembly, forming or shaping of surfaces, and handling hazardous materials, depends greatly on available hybrid force and position control schemes. Since the robot and its environment are often subject to parameter uncertainties that cannot be neglected, it is necessary to design controllers that are robust with respect to these uncertainties. In addition, the dynamics of the robot are nonlinear, requiring consideration of nonlinear control concepts. Another aspect to be taken into account is the relative stiffness of the robot, the force sensor, and the manipulated surface. That is, the behavior of the system normal to the surface is relatively stiff, while that tangential to the surface is relatively free. Separation of the controller for these two directions is therefore indicated. We propose a controller design that accounts for this point of view and demonstrate its efficacy with respect to robustness and accuracy of position and force tracking by means of numerical simulations. The design is based on the control concept of Corless and Leitmann [l]. The example considered is a Manutecr3 robot with three degrees of freedom. In addition, we account for the dynamics of the actuator, which also possesses three degrees of freedom. The considered parameter uncertainties are friction moments in the links and friction between the end effector and the manipulated object, as well as nonlinear dynamics, which are difficult to characterize.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: Dynamics and Control, Vol. 1, No. 2, 05.1991, p. 133-150.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Tracking and force control for a class of robotic manipulators
AU - Reithmeier, E.
AU - Leitmann, G.
PY - 1991/5
Y1 - 1991/5
N2 - The increasing utilization of robotic manipulators in industrial tasks, such as assembly, forming or shaping of surfaces, and handling hazardous materials, depends greatly on available hybrid force and position control schemes. Since the robot and its environment are often subject to parameter uncertainties that cannot be neglected, it is necessary to design controllers that are robust with respect to these uncertainties. In addition, the dynamics of the robot are nonlinear, requiring consideration of nonlinear control concepts. Another aspect to be taken into account is the relative stiffness of the robot, the force sensor, and the manipulated surface. That is, the behavior of the system normal to the surface is relatively stiff, while that tangential to the surface is relatively free. Separation of the controller for these two directions is therefore indicated. We propose a controller design that accounts for this point of view and demonstrate its efficacy with respect to robustness and accuracy of position and force tracking by means of numerical simulations. The design is based on the control concept of Corless and Leitmann [l]. The example considered is a Manutecr3 robot with three degrees of freedom. In addition, we account for the dynamics of the actuator, which also possesses three degrees of freedom. The considered parameter uncertainties are friction moments in the links and friction between the end effector and the manipulated object, as well as nonlinear dynamics, which are difficult to characterize.
AB - The increasing utilization of robotic manipulators in industrial tasks, such as assembly, forming or shaping of surfaces, and handling hazardous materials, depends greatly on available hybrid force and position control schemes. Since the robot and its environment are often subject to parameter uncertainties that cannot be neglected, it is necessary to design controllers that are robust with respect to these uncertainties. In addition, the dynamics of the robot are nonlinear, requiring consideration of nonlinear control concepts. Another aspect to be taken into account is the relative stiffness of the robot, the force sensor, and the manipulated surface. That is, the behavior of the system normal to the surface is relatively stiff, while that tangential to the surface is relatively free. Separation of the controller for these two directions is therefore indicated. We propose a controller design that accounts for this point of view and demonstrate its efficacy with respect to robustness and accuracy of position and force tracking by means of numerical simulations. The design is based on the control concept of Corless and Leitmann [l]. The example considered is a Manutecr3 robot with three degrees of freedom. In addition, we account for the dynamics of the actuator, which also possesses three degrees of freedom. The considered parameter uncertainties are friction moments in the links and friction between the end effector and the manipulated object, as well as nonlinear dynamics, which are difficult to characterize.
UR - http://www.scopus.com/inward/record.url?scp=0026159749&partnerID=8YFLogxK
U2 - 10.1007/BF02169547
DO - 10.1007/BF02169547
M3 - Article
AN - SCOPUS:0026159749
VL - 1
SP - 133
EP - 150
JO - Dynamics and Control
JF - Dynamics and Control
SN - 0925-4668
IS - 2
ER -