Force regulation and contact transition control

被引：93

作者：

Tarn, TJ ^{[1
]}

Wu, YY ^{[1
]}

Xi, N ^{[1
]}

Isidori, A ^{[1
]}

机构：

[1] UNIV ROMA LA SAPIENZA,DIPARTIMENTO INFORMAT & SISTEMIST,I-00184 ROME,ITALY

来源：

IEEE CONTROL SYSTEMS MAGAZINE | 1996年 / 16卷 / 01期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/37.482135

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a new sensor-referenced control method using positive acceleration feedback together with a switching control strategy is developed for robot impact control and force regulation. The robot dynamic model is feedback-linearized and decoupled for the free-motion mode, the phase-transition mode, and the constrained-motion mode. Considering the detection of the impact as an event, the event-driven switching control strategy is used to deal with the inadvertent loss of contact of the robotic manipulator. Bouncing can be eliminated after finite switches, A stable transition can be achieved with a nonzero impact velocity; large impact forces can be avoided and the output force can be regulated after contact is established. Stability analysis based on the Lyapunov-like method is given for the proposed system. The scheme was implemented and tested on a 6 DOF PUMA 560 robot arm.

引用

页码：32 / 40

页数：9

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