Position/force control of a manipulator by using an algebraic relation and evaluations by experiments

被引:9
|
作者
Ikeda, T [1 ]
Minami, M [1 ]
机构
[1] Fukui Univ, Grad Sch Engn, Fukui 910, Japan
关键词
D O I
10.1109/AIM.2003.1225146
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
On the basis of a analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Simulations and real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.
引用
收藏
页码:503 / 508
页数:6
相关论文
共 50 条
  • [1] Position control and explicit force control of a constrained manipulator
    Minami, M
    Asakura, T
    Dong, LX
    Huang, YM
    1997 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT PROCESSING SYSTEMS, VOLS 1 & 2, 1997, : 1268 - 1271
  • [2] Hybrid position/force control of manipulator using series elastic actuator with position controller
    Abe, Kaito
    Jiralerspong, Trongmun
    Ishikawa, Jun
    IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2020, : 4415 - 4422
  • [3] Horizontal Sustained Force Delivery with an Aerial Manipulator using Hybrid Force/Position Control
    Ullah, Hameed
    D'Angelo, Simone
    Ruggiero, Fabio
    Lippiello, Vincenzo
    Soto, Santos Miguel Orozco
    2024 25TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE, ICCC 2024, 2024,
  • [4] Position/force control of an underwater mobile manipulator
    Lapierre, L
    Fraisse, P
    Dauchez, P
    JOURNAL OF ROBOTIC SYSTEMS, 2003, 20 (12): : 707 - 722
  • [5] Combined position & force control for a robotic manipulator
    Sijs, Joris
    Liefhebber, Freek
    Romer, Gert Willem R. B. E.
    2007 IEEE 10TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2, 2007, : 106 - +
  • [6] Hybrid position/force control of a ROV with a manipulator
    Lapierre, L
    Fraisse, P
    M'Sirdi, NK
    OCEANS'98 - CONFERENCE PROCEEDINGS, VOLS 1-3, 1998, : 931 - 935
  • [7] Position/force control of a manipulator mounted on a vehicle
    Perrier, C
    Cellier, L
    Dauchez, P
    Fraisse, P
    Degoulange, E
    Pierrot, F
    JOURNAL OF ROBOTIC SYSTEMS, 1996, 13 (11): : 687 - 698
  • [8] Position and force control of flexible manipulator with position sensitive device
    Suzuki, J
    Murakami, T
    Ohnishi, K
    7TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, 2002, : 414 - 419
  • [9] ROBUST FORCE POSITION CONTROL OF A ROBOT MANIPULATOR USING TIME-DELAY CONTROL
    CHANG, PH
    KIM, DS
    PARK, KC
    CONTROL ENGINEERING PRACTICE, 1995, 3 (09) : 1255 - 1264
  • [10] Force and position control of robot manipulator using neurocontroller with GA based training
    Nakazono, K
    Katagiri, M
    Kinjo, H
    Yamamoto, T
    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, : 1354 - 1357