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- Publisher Website: 10.1109/37.482135
- Scopus: eid_2-s2.0-0030082559
- WOS: WOS:A1996TU42300008
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Article: Force regulation and contact transition control
Title | Force regulation and contact transition control |
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Authors | |
Issue Date | 1996 |
Citation | IEEE Control Systems Magazine, 1996, v. 16, n. 1, p. 32-40 How to Cite? |
Abstract | 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. |
Persistent Identifier | http://hdl.handle.net/10722/212672 |
ISSN | |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Tarn, Tzyh Jong | - |
dc.contributor.author | Wu, Yunying | - |
dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Isidori, Alberto | - |
dc.date.accessioned | 2015-07-28T04:04:38Z | - |
dc.date.available | 2015-07-28T04:04:38Z | - |
dc.date.issued | 1996 | - |
dc.identifier.citation | IEEE Control Systems Magazine, 1996, v. 16, n. 1, p. 32-40 | - |
dc.identifier.issn | 0272-1708 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212672 | - |
dc.description.abstract | 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. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE Control Systems Magazine | - |
dc.title | Force regulation and contact transition control | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/37.482135 | - |
dc.identifier.scopus | eid_2-s2.0-0030082559 | - |
dc.identifier.volume | 16 | - |
dc.identifier.issue | 1 | - |
dc.identifier.spage | 32 | - |
dc.identifier.epage | 40 | - |
dc.identifier.isi | WOS:A1996TU42300008 | - |
dc.identifier.issnl | 0272-1708 | - |