[1] Qiao Bing, Lu Rongjian,. Impedance force control for position controlled robotic manipulatorsunder the constraint of unknown environments [J]. Journal of Southeast University (English Edition), 2003, 19 (4): 359-363. [doi:10.3969/j.issn.1003-7985.2003.04.012]

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Impedance force control for position controlled robotic manipulatorsunder the constraint of unknown environments()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

19

Issue:

2003 4

Page:

359-363

Research Field:

Automation

Publishing date:

2003-12-30

Info

Title:

Impedance force control for position controlled robotic manipulatorsunder the constraint of unknown environments

Author(s):

Qiao Bing¹;  Lu Rongjian²

¹College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
²College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China

Keywords:

robotic manipulators;  force/position control;  unknown constraint

PACS:

TP24

DOI:

10.3969/j.issn.1003-7985.2003.04.012

Abstract:

A force control strategy for position controlled robotic manipulators is presented. On-line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3-linked planar manipulator and experimental studies on an Adept-3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.

References:

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[10] Merlet J P. C-surface applied to the design of An hybrid force/position robot controller [A]. In: IEEE Conf on Robotics and Automation [C]. Raleigh, NC, 1987, 2:1055-1059.
[11] Blauer M, Belanger P R. State and parameters estimation for robotic manipulators using force measurements[J]. IEEE Trans on Automatic Control, 1987, 32(12): 1055-1066.
[12] Yoshikawa T, Sudou, Akio. Dynamic hybrid position/force control of robot manipulators: on-line estimation of unknown constraint[A]. In: Proc IEEE Int Conf Robotic Automat[C]. Los Alamitos, CA, 1990. 1231-1236.
[13] Pelletier M, Doyon M. On the implementation and performance of impedance control on position controlled robots [A]. In: Proc IEEE Int Conf on Robot Automat[C]. San Diego, CA, 1994. 1228-1233.
[14] Craig J J. Introduction to robotics: mechanics and control. 2nd ed. [M]. Reading, Massachusetts: Addison-Wesley, 1989.

Memo

Memo:

Biography: Qiao Bing(1967—), male, associate professor, bqiao@nuaa.edu.cn.

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