Hostname: page-component-78c5997874-4rdpn Total loading time: 0 Render date: 2024-11-03T02:13:15.875Z Has data issue: false hasContentIssue false
  • English
  • Français

Work-space robot controllers

Published online by Cambridge University Press:  09 March 2009

C. Vibet
C. Vibet
Affiliation:
Université Paris XII, Laboratoire de Robotique Industrielle, 22 Allée J. Rostand 91011 EVRY Cedex, (France)
Get access Rights & Permissions [Opens in a new window]

Summary

In regard to work-space controller design, a derivation of the relationships between the operational approach and the decoupling method is introduced. The given generating rules, which are valid for nonredundant robots, permit the design of a Position-Speed-Acceleration controller or hybrid Force-PSA controllers.

Keywords

Robot controllerImpedance controllerWork-spaceForce-position controller
Type
Article
Information
Robotica , Volume 5 , Issue 3 , July 1987 , pp. 247 - 250
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Luh, J., Walker, M. and Paul, R., “Resolved acceleration control of mechanical manipulators” IEEE Trans. on Autom. Control, 25, No. 3, 468–474 (1980).CrossRefGoogle Scholar
2.Freund, E., “Fast nonlinear control with arbitrary pole-placement for industrial robots and manipulators” Int. J. Robotics Research 1, No. 1, (Spring, 1982).CrossRefGoogle Scholar
3.Hogan, N. and Cotter, S., “Cartesian impedance control of a nonlinear manipulator” ASME WAM Robotics Symp. (1982).Google Scholar
4.Khatib, O., “The operational space formulation in robot manipulator control” 15th ISIR, Tokyo, Japan165–172 (09, 1985).Google Scholar
5.Bejczy, A., Tarn, T. and Chen, Y., “Robot arm dynamic control by computer” IEEE Conf. on Robotics and Automation. Saint-Louis, Position-speed-acceleration controller design” (March 1985) Electronics Letters 22, No. 7, 382–383 (03, 1986).Google Scholar
6.Vibet, C., “Position-speed-acceleration controller design” Electronics Letters 22, No. 7 (1986).CrossRefGoogle Scholar
7.Vibet, C., “Contrôle par linéarisation et découplage non-linéaire des systèmes mécaniques” 8th Symp. on the Applications of Mechanics. Sherbrooke, Québec (8–10 06, 1986) pp. 154–158.Google Scholar
8.Vibet, C., “Design of robot controllers” (To appear in Advanced Robotics, 1987).CrossRefGoogle Scholar
9.Chen, Y., “Nonlinear feedback and computer control of robots arms Ph.D. Thesis, Washington Univ., Saint-Louis, MO (12, 1983).Google Scholar
10.Rouff, M., Vibet, C. and Claude, D., “Découplage et linéarisation avec positionnement des pôles des systèmes multivariables” Point en Automatique 2 (TEC-DOC, Lavoisier, Paris, Juin, 1986).Google Scholar
11.Khatib, O. & Burdick, J., “Motion and force control of robot manipulators” Proc. of IEEE Int. Conf. on Robotics and Automation,San Francisco, 1381–1386 (03, 1986).Google Scholar
12.Hollerbach, J. and Sahar, G., “Wrist-partitioned inverse kinematic accelerations and manipulator dynamics” 1984 IEEE Conf. on Robotics and Automation152–161 (1984).Google Scholar
13.Raibert, M. and Craig, J., “Hybrid Position/force control of manipulators” Trans. ASME, J. of Dyn. Syst. Meas, and Contr. 102, 126–133 (1981).Google Scholar