File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Force regulation and contact transition control

TitleForce regulation and contact transition control
Authors
Issue Date1996
Citation
IEEE Control Systems Magazine, 1996, v. 16, n. 1, p. 32-40 How to Cite?
AbstractIn 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.
Persistent Identifierhttp://hdl.handle.net/10722/212672
ISSN
2004 Impact Factor: 1.803

 

DC FieldValueLanguage
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorWu, Yunying-
dc.contributor.authorXi, Ning-
dc.contributor.authorIsidori, Alberto-
dc.date.accessioned2015-07-28T04:04:38Z-
dc.date.available2015-07-28T04:04:38Z-
dc.date.issued1996-
dc.identifier.citationIEEE Control Systems Magazine, 1996, v. 16, n. 1, p. 32-40-
dc.identifier.issn0272-1708-
dc.identifier.urihttp://hdl.handle.net/10722/212672-
dc.description.abstractIn 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.-
dc.languageeng-
dc.relation.ispartofIEEE Control Systems Magazine-
dc.titleForce regulation and contact transition control-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/37.482135-
dc.identifier.scopuseid_2-s2.0-0030082559-
dc.identifier.volume16-
dc.identifier.issue1-
dc.identifier.spage32-
dc.identifier.epage40-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats