Developing of compliant motion controller for robot manipulators

This paper presents the development of a compliant motion controller for robotic manipulators by using the armature current of its motors for a local work space. For this purposes we use the mathematical model of the brushless motor of the robot. The main objective is to develop algorithms for compl...

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Bibliographic Details
Published inConference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 (Cat. No.01TH8590) pp. 205 - 208
Main Authors Stepanov, S.I., Worn, H., Osswald, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2001
Subjects
Displacement control
Force control
Manipulators
Motion control
Orbital robotics
Robot control
Robot sensing systems
Sensor phenomena and characterization
Sliding mode control
Velocity control
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Summary:This paper presents the development of a compliant motion controller for robotic manipulators by using the armature current of its motors for a local work space. For this purposes we use the mathematical model of the brushless motor of the robot. The main objective is to develop algorithms for compliant motion control without the need for other than internal sensors, like displacement transducers and current sensors of motors. Additionally, a reduced robot model is presented which is sufficient for this purpose.
ISBN:3000082603
9783000082603
DOI:10.1109/MFI.2001.1013535