Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-23T12:15:16.061Z Has data issue: false hasContentIssue false
  • English
  • Français

New approach to control of robotic manipulators interacting with dynamic environment

Published online by Cambridge University Press:  09 March 2009

Miomir K. Vukobratović  and
Yuri Ekalo
Miomir K. Vukobratović
Affiliation:
Robotics Laboratory, Mihajlo Pupin Institute, Volgina 15, POB 15, 11000 Belgrade (Yugoslavia).
Yuri Ekalo
Affiliation:
Institute of Fine Mechanics and Optics, 197 101 St. Petersburg (Russia).
Get access Rights & Permissions [Opens in a new window]

Summary

The fundamentals of an approach to solving the control task of robots interaction with a dynamic environment based on the stability of a closed-loop control system are given in this paper. The task is set and solved in its general form. The traditional control concept of compliant robot motion—the hybrid position/force control is discussed. In the paper the proposed control laws ensure simultaneous stabilization of both the desired robot motion and the desired interaction force, as well as their required quality of transient responses. In order to emphasize the fundamental point of this approach in controlling the contact tasks in robotics, the authors have assumed ideal parameters of interacting dynamic systems. The proposed control procedure is demonstrated by one simple example.

Keywords

Compliant motionDynamic environmentHybrid controlAsymptotic stabilityTransient response
Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 31 - 39
Copyright
Copyright © Cambridge University Press 1996

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.Raibert, M.H. and Craig, J.J., “Hybrid Position/Force Control of Manipulators” Trans. ASME J. of Dynamic Systems, Measurement and Control 102, No 3, 126–133 (1981).Google Scholar
2.Mason, M.T., “Compliance and Force Control for Computer Controlled Manipulators” IEEE Trans, on Systems, Man and Cybernetics, SMC-11, No 6, 418–432 (1981).CrossRefGoogle Scholar
3.Hogan, N., “Impedance Control: An Approach to Manipulation, Part 1—Theory, Part 2—Implementation, Part 3—Application” J. Dynamic Systems, Measurement and Control 107, 1–24 (1985).CrossRefGoogle Scholar
4.Paul, R.P., “Problems and Research Issues Associated with the Hybrid Control of Force and Displacement” Proc. IEEE Int. Conf. on Robotics and Automation(1987) pp. 1966–1971.Google Scholar
5.Yoshikawa, T., Sugie, T. and Tanaka, M., “Dynamic Hybrid Position/Force Control of Robot Manipulators— Controller Design and Experiment” IEEE Journal of Robotics and Automation 4, 699–705 (1988).CrossRefGoogle Scholar
6.Luca, A. De and Manes, C., “Hybrid Force/Position Control for Robots in Contact with Dynamic Environments” Proc. of Robot Control SYROCO '91(1991) pp. 377–382.Google Scholar
7.Kazerooni, H., Sheridan, T.B. and Houpt, P.K., “Robust Compliant Motion for Manipulators”, Part 1: “The Fundamental Concepts of Compliant Motion” IEEE Journal of Robotics and Automation RA-2, No 2, 83–92 (1986).Google Scholar
8.Maples, J.A. and Becker, J.J., “Experiments in Force Control of Robotic Manipulators” Proc. of IEEE Int. Conference on Robotics and Automation,San Francisco,(1986) pp. 695–703.Google Scholar
9.De Shutter, J. and Brussel, H. Van, “Compliant Robot Motion”, Part 2: “A Control Approach Based on External Control Loops” Int. J. Robotics Research 7, No 4, 17–25 (1988).Google Scholar
10.Stokić, D. and Šurdilovic, D.D., “Simulation and Control of Robotic Deburring” Int. J. Robotics and Automation 5, 107–115 (1990).Google Scholar
11.Stokić, D., “Constrained Motion Control of Manipulation Robots—A Contribution” Robotica 9, Part 2 157–163 (1991).CrossRefGoogle Scholar
12.Vukobratovic, M. and Ekalo, Y., “Unified Approach to Control Laws Synthesis for Robotic Manipulators in Contact with Dynamic Environment”, Tutorial S5: “Force and Contact Control in Robotic Systems” Proc. IEEE Int. Conf. on Robotics and AutomationAtlanta(1993) pp. 213–229.Google Scholar
13.Demidovich, B.P., Lectures on Mathematical Theory of Stability (in Russian) (Nauka Publ., Moscow, 1967).Google Scholar
14.Vukobratović, M. and Stojić, R., “On Position/Force Control of Robot Interacting with Dynamic Environment in Cartesian Space” ASME Journal of Dynamic Systems, Measurement and Control (In Press).Google Scholar
15.Duffy, J., “The Fallacy of Modern Hybrid Control Theory that is Based on ‘Orthogonal Complements’ of Twist and Wrench Spaces” J. Robotic Systems 7, No 2, 139–144 (1990).Google Scholar
16.Ekalo, Y. and Vukobratovic, M., “Robust and Adaptive Position/Force Stabilization of Robotic Manipulators in Contact Tasks” Robotica 11, Part 1 373–386 (1993).CrossRefGoogle Scholar
17.Ekalo, Y. and Vukobratović, M., “Adaptive Stabilization of Motion and Forces in Contact Tasks for Robotic Manipulators with Non-Stationary Dynamics” Int. J. on Robotics and Automation 9, Issue 3, 91–98 (1994).Google Scholar
18.Ekalo, Y. and Vukobratović, M., “Quality of Stabilization of Robots Interacting with Dynamic Environments” (In Press).Google Scholar