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...

Full description

Saved in:
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
Online AccessGet full text

Cover

Abstract 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.
AbstractList 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.
Author Stepanov, S.I.
Osswald, D.
Worn, H.
Author_xml – sequence: 1
  givenname: S.I.
  surname: Stepanov
  fullname: Stepanov, S.I.
  organization: Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
– sequence: 2
  givenname: H.
  surname: Worn
  fullname: Worn, H.
  organization: Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
– sequence: 3
  givenname: D.
  surname: Osswald
  fullname: Osswald, D.
  organization: Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
BookMark eNotT8FKxDAUDKigu-5d8JIfaE2apE1uyurqwooXPS8v6atE0qSkVfDvDbhzmGHmwWNmRc5jikjIDWc158zcve72dcMYrznjQgl1RlaCFeimZeKSbOb5qzhuZCe1uiL3j_iDIU0-ftI0UJfGKXiICx3T4lMsQVxyCgEzHVKmOdlUbhD99B1gSXm-JhcDhBk3J12Tj93T-_alOrw977cPh8pzppYK-kbKrm0aZ4VTihl0zoCVMGhugfGBgVUdat26wkYbBAG9hdKybyW2Yk1u__96RDxO2Y-Qf4-nkeIP9BxKhQ
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/MFI.2001.1013535
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Xplore
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Xplore
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EndPage 208
ExternalDocumentID 1013535
GroupedDBID 6IE
6IK
6IL
AAJGR
AAVQY
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IERZE
OCL
RIE
RIL
ID FETCH-LOGICAL-i105t-ad2447622cb3c5509ecc9ab4af81ba01f0ab57e886c7e8989ea3adba748d64e63
IEDL.DBID RIE
ISBN 3000082603
9783000082603
IngestDate Wed Jun 26 19:26:44 EDT 2024
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i105t-ad2447622cb3c5509ecc9ab4af81ba01f0ab57e886c7e8989ea3adba748d64e63
PageCount 4
ParticipantIDs ieee_primary_1013535
PublicationCentury 2000
PublicationDate 20010000
PublicationDateYYYYMMDD 2001-01-01
PublicationDate_xml – year: 2001
  text: 20010000
PublicationDecade 2000
PublicationTitle Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 (Cat. No.01TH8590)
PublicationTitleAbbrev MFI
PublicationYear 2001
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001947485
Score 1.3079065
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 205
SubjectTerms Displacement control
Force control
Manipulators
Motion control
Orbital robotics
Robot control
Robot sensing systems
Sensor phenomena and characterization
Sliding mode control
Velocity control
Title Developing of compliant motion controller for robot manipulators
URI https://ieeexplore.ieee.org/document/1013535
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8NAEB7anvTioxXf7MGjiXls0uxNUEsVKh4s9FZ2N7NQlETS9OKvdzabtioehLAkGwjLDJv5ZufxAVxlIZcE4wOPh4aGREeeiJX2jDEpz0MehdpGdCfP6XjKn2bJrAPXm1oYRGySz9C3t00sPy_1yh6V0Q63LA1JF7pZELlare15iuBDniW2fKPBQYTTY9dgZ_u8DlMG4mYyerTOYei33_xBrtLYltEeTNarciklb_6qVr7-_NWw8b_L3ofBtoqPvWzs0wF0sDiE3W8NCPtwe7-pmWKlYS6_nGTNHLkPaxPZ37FiBG5ZVaqS3sli0bB-ldVyANPRw-vd2Gs5FbwFIanakznZc_oBRlrFmrwTQSoUUnFpCL_KgBQmVTLELEs1jSITKGOZK0myzVOOaXwEvaIs8BiY0Zx0a5QxOScvDRXtfy1oUidaYBicQN_KYv7h2mbMWzGc_j19Bjsuvcte59CrqxVekL2v1WWj6C8jrqdj
link.rule.ids 310,311,786,790,795,796,802,4069,4070,27958,55109
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3NS8MwFH_MeVAvfmzitzl4tLVd0665CerYdB0eNthtJGkCY9JK7S7-9b403abiQSihTaGE92h-v5f3BXAT-5Qjjfcc6mscQtlxWCCko7WOaOrTji-NRzcZRf0JfZ6G0wbcrnNhlFJV8JlyzW3ly09zuTRHZfiHmy4N4RZsI857zGZrbU5UGO3SODQJHBUTQqYe2BI7m-eVo9Jjd0lvYMxD362_-qO9SoUuvX1IVuuyQSULd1kKV37-Ktn434UfQHuTx0de1wh1CA2VHcHetxKELbh_XGdNkVwTG2GO0ia2vQ-pQ9nfVEGQ3pIiFzm-49m86vuVFx9tmPSexg99p-6q4MyRS5UOTxHRcQvsSBFItE8YKpFxQblGBss9VBkXYVfFcSRxZDFTPOCp4CjbNKIqCo6hmeWZOgGiJUXtaqF1StFOUwJ3AMlwUoaSKd87hZaRxezdFs6Y1WI4-3v6Gnb642Q4Gw5GL-ewa4O9zHUBzbJYqktE_1JcVUr_Ai0Kqrk
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=Conference+Documentation+International+Conference+on+Multisensor+Fusion+and+Integration+for+Intelligent+Systems.+MFI+2001+%28Cat.+No.01TH8590%29&rft.atitle=Developing+of+compliant+motion+controller+for+robot+manipulators&rft.au=Stepanov%2C+S.I.&rft.au=Worn%2C+H.&rft.au=Osswald%2C+D.&rft.date=2001-01-01&rft.pub=IEEE&rft.isbn=9783000082603&rft.spage=205&rft.epage=208&rft_id=info:doi/10.1109%2FMFI.2001.1013535&rft.externalDocID=1013535
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9783000082603/lc.gif&client=summon&freeimage=true
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9783000082603/mc.gif&client=summon&freeimage=true
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9783000082603/sc.gif&client=summon&freeimage=true