Approach to force and position control of robot manipulators

L. Cai; A. A. Goldenberg

doi:10.1109/ROBOT.1989.99972

Approach to force and position control of robot manipulators

L. Cai^*, A. A. Goldenberg

^*Corresponding author for this work

Research output: Contribution to journal › Conference article published in journal › peer-review

28 Citations (Scopus)

Abstract

An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.

Original language	English
Pages (from-to)	86-91
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ROBOT.1989.99972
Publication status	Published - 1989
Externally published	Yes
Event	1989 IEEE International Conference on Robotics and Automation, ICRA 1989 - Scottsdale, AZ, USA Duration: 14 May 1989 → 19 May 1989

Access to Document

10.1109/ROBOT.1989.99972

Cite this

@article{003e186932894f7586253cd01a47f8cc,

title = "Approach to force and position control of robot manipulators",

abstract = "An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.",

author = "L. Cai and Goldenberg, \{A. A.\}",

year = "1989",

doi = "10.1109/ROBOT.1989.99972",

language = "English",

pages = "86--91",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "1989 IEEE International Conference on Robotics and Automation, ICRA 1989 ; Conference date: 14-05-1989 Through 19-05-1989",

}

TY - JOUR

T1 - Approach to force and position control of robot manipulators

AU - Cai, L.

AU - Goldenberg, A. A.

PY - 1989

Y1 - 1989

N2 - An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.

AB - An approach is proposed to simultaneously control the contact forces exerted on a constraint surface and the position of the end-effector, both in the presence of frictional forces on the constraint surface. The approach, using a novel formulation of the dynamics model, is based on a linear state feedback. A feedforward and PI (proportional-integral) feedback control strategy is proposed along with a design procedure. Using the proposed control method the trajectory following problem is solved and the closed-loop system is shown to be asymptotically stable. Numerical examples of a two-link robot moving along a constraint surface are presented for illustration.

UR - https://www.scopus.com/pages/publications/0024864685

U2 - 10.1109/ROBOT.1989.99972

DO - 10.1109/ROBOT.1989.99972

M3 - Conference article published in journal

AN - SCOPUS:0024864685

SN - 1050-4729

SP - 86

EP - 91

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 1989 IEEE International Conference on Robotics and Automation, ICRA 1989

Y2 - 14 May 1989 through 19 May 1989

ER -

Approach to force and position control of robot manipulators

Abstract

Access to Document

Other files and links

Fingerprint

Cite this