Adaptive force control of screwdriving with a positioning-controlled manipulator

This paper presents a force control method for manipulators using a model reference adaptive system (MRAS). Numerical simulations comfirm that this method is applicable to force control of screwdriving. Adaptive gains are proposed to assure force control stability against object properties. The forc...

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Bibliographic Details
Published inRobotics and autonomous systems Vol. 7; no. 1; pp. 57 - 65
Main Authors Tsujimura, Takeshi, Yabuta, Tetsuro
Format Journal Article
LanguageEnglish
Published Amsterdam Elsevier B.V 1991
Elsevier
Subjects
Applied sciences
Exact sciences and technology
Force control
Material handling, hoisting. Storage. Packaging
Model reference adaptive system
Screwdriving Stability
Transfert equipment, manipulators; industrial robots
Screwdriving Stability
Model reference adaptive system
Force control
Bolted joint
Positioning
Industrial robot
Stability
Mechanical torque
System design
Adaptive control
Robotics
Manipulator
System with n degrees of freedom
Reference model
Experimental result
Simulation
Screwing
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Summary:This paper presents a force control method for manipulators using a model reference adaptive system (MRAS). Numerical simulations comfirm that this method is applicable to force control of screwdriving. Adaptive gains are proposed to assure force control stability against object properties. The force control system consists of a six degrees of freedom (DOF) positioning-controlled manipulator and a six-axis force/torque sensor. Agreement between simulation and experimental results confirms efficiency of the proposed method. Simulation also shows that plant measurement errors have a strong influence on system stability. Screwdriving experiments with a positioning-controlled manipulator prove that this method is applicable to actual work.
ISSN:0921-8890
1872-793X
DOI:10.1016/0921-8890(91)90027-I