A compliance control strategy for robot manipulators using a self-controlled stiffness function

A compliance control strategy is proposed by using a new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual traje...

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Bibliographic Details
Published inProceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots Vol. 3; pp. 179 - 184 vol.3
Main Authors Sang-Rok Oh, Ho-Chan Kim, Il Hong Suh, Bum-Jae You, Chong Won Lee
Format Conference Proceeding
LanguageEnglish
Published IEEE 1995
Subjects
Force control
Impedance
Information technology
Manipulators
Motion control
Robot control
Robot kinematics
Servomechanisms
Strain control
Torque control
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Summary:A compliance control strategy is proposed by using a new type of self-controlled stiffness function, where no explicit wrist force/torque sensor is employed. Specifically, the stiffness gain is given as the exponential function of the error between virtually given desired trajectory and actual trajectory, where virtual desired trajectory is designed to be inside the surface of the object to be compliance-controlled. And, a motion speed scheduling technique is also proposed to avoid serious damages due to lack of environmental knowledge and to minimally maintain the task performances. It is experimentally shown that the proposed control method is useful for various manipulator motion types such as path following, initial contact with soft impact and force regulation during contact.
ISBN:9780818671081
0818671084
DOI:10.1109/IROS.1995.525881