Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-24T06:25:41.408Z Has data issue: false hasContentIssue false
  • English
  • Français

Constrained Motion Control of Manipulation Robots – A Contribution

Published online by Cambridge University Press:  09 March 2009

Dragan M. Stokić
Dragan M. Stokić
Affiliation:
Institute “M. Pupin”, P.O.B. 15, Volgina 15, Beograd (Yugoslavia)
Get access Rights & Permissions [Opens in a new window]

Summary

The problems concerning the control of constrained motion of manipulation robots are discussed in the paper. Two general problems of hybrid position/force control are considered: the problem of interaction between position and force control and the problem of contact between a robot and an environment. Some promising solutions to these problems are identified. It is shown that adaptive control is necessary to solve these problems. A new control scheme is proposed and results of computer simulations are presented

Keywords

Motion controlRobotsConstrained motion
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 157 - 163
Copyright
Copyright © Cambridge University Press 1991

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.Whitney, D.E., “Historical Perspectives and State of the Art in Robot Force Control” Int. J. Robotics Research 6, No. 1, 3–14 (1987).CrossRefGoogle Scholar
2.Mason, M.T., “Compliance and Force Control for Computer Controlled Manipulators” IEEE Transaction on Systems, Man and Cybernetics SMC-11, No. 6, 418–432 (1981).Google Scholar
3.Raibert, M.H. & Craig, J.J., “Hybrid Position/Force Control of Manipulators” ASME J. Dynamic Systems, Measurement, and Control 102, 126–133 (06, 1981).CrossRefGoogle Scholar
4.Salisbury, J.K., “Active Stiffness Control of a Manipulator in Cartesian Coordinates” Proc. of 19th IEEE Conference on Decision and Control,Albuquerque, 95–100 (1980).CrossRefGoogle Scholar
5.Hogan, N., “Impedance Control: An Approach to Manipulation: Part I – Theory, Part II – Implementation, Part III – Applications” Trans. ASME J. Dynamic Systems, Measurement and Control 107, 1–24 (1985).CrossRefGoogle Scholar
6. D. M. Stokić, “Development of Software System for Programming and Simulation of Robotic Systems” Report for Commission of E.C. (06, 1989).Google Scholar
7.An, C.H. & Hollerbach, J.M., “Dynamic Stability Issues in Force Control of Manipulators” Proc. of IEEE International Conference on Robots and AutomationRaleigh890–896 (1987).Google Scholar
8.An, C.H. & Hollerbach, J.M., “The Role of Dynamic Models in Cartesian Force Control of Manipulators” Int. J. Robotics Research 8, No. 4, 51–72 (1989).CrossRefGoogle Scholar
9.Otter, M. & Turk, S., “The DFVLR Models 1 and 2 of the Manutec-R3 Robot” Report of DFVLR Institute, Oberpfaffenhofen (1988).Google Scholar
10.Duelen, G., Dlabka, M., Held, J. & Wendt, W., “Force Control in Industrial Robots: The Contact Problem” Robotics and Computer-Integrated Manufacturing, New York (in press).Google Scholar
11.Vukobratović, M.K. & Stokić, D.M., Control of Manipulation Robots, Monograph (Springer-Verlag, Berlin, 1982).CrossRefGoogle Scholar
12.Vukobratović, M.K. & Stokić, D.M., “Contribution to the Decoupled Control of Large Scale Mechanical Systems” IFAC Automatica 16, No. 1, 9–22 (1980).CrossRefGoogle Scholar
13.Vukobratović, M.K. & Stokić, D.M., Applied Control of Manipulation Robots: Analysis, Synthesis and Exercises, Textbook (Springer-Verlag, Berlin, 1989).CrossRefGoogle Scholar
14.Khatib, O., “A Unified Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation” IEEE J. Robotics and Automation RA-3, No. 1, 43–53 (1987).CrossRefGoogle Scholar
15.Stokić, D.M. & Vukobratović, M.K., “Robustness of Decentralized Robot Control to Payload Variation” J. Robotic Systems 7, No. 2, 471–495 (1988).CrossRefGoogle Scholar
16.Tanie, K., Yokoi, K., Kaneko, M. & Fukuda, T., “A Position Sensor Based Torque Control Method for a DC Motor with Reduction Gears” Proc. of IEEE International Conference on Robotics and Automation 1867–1870 (1988).Google Scholar
17.Zhang, H., “Kinematic Stability of Robot Manipulators under Force Control” Proc. of IEEE International Conference on Robotics and AutomationScottsdale80–85 (1989).Google Scholar
18.Stokić, D.M. & Šurdilović, D., “Simulation and Control of Robotic Deburring” (paper accepted for publication in Int. J. Robotics & Automation).Google Scholar
19.Stokić, D.M., Vukobratović, M.K. & Hristić, D.S., “Implementation of Force Feedback in Manipulation Robots” Int. J. Robotic Research 5, No. 3, 66–76 (1986).CrossRefGoogle Scholar
20.Stokić, D.M. & Vukobratović, M.K., “Simulation and Control Synthesis of Manipulator in Assembling Technical Parts” J. Dynamic Systems, Measurement and Control 101, No. 4, 332–338 (1979).Google Scholar