On the position/force control of robot manipulators with model uncertainty and random disturbances

Heng Wang; K. H. Low; Michael Yu Wang

doi:10.1109/RAMECH.2006.252712

On the position/force control of robot manipulators with model uncertainty and random disturbances

Heng Wang^*, K. H. Low, Michael Yu Wang

^*Corresponding author for this work

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

3 Citations (Scopus)

Abstract

This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. Computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure.

Original language	English
Title of host publication	2006 IEEE Conference on Robotics, Automation and Mechatronics
DOIs	https://doi.org/10.1109/RAMECH.2006.252712
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand Duration: 7 Jun 2006 → 9 Jun 2006

Publication series

Name	2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference	2006 IEEE Conference on Robotics, Automation and Mechatronics
Country/Territory	Thailand
City	Bangkok
Period	7/06/06 → 9/06/06

Keywords

Impedance control
Joint impedance/direct control

Access to Document

10.1109/RAMECH.2006.252712

Cite this

@inproceedings{0ecf9910be074ba5ac600638322afb4e,

title = "On the position/force control of robot manipulators with model uncertainty and random disturbances",

abstract = "This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. Computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure.",

keywords = "Impedance control, Joint impedance/direct control",

author = "Heng Wang and Low, \{K. H.\} and Wang, \{Michael Yu\}",

year = "2006",

doi = "10.1109/RAMECH.2006.252712",

language = "English",

isbn = "1424400244",

series = "2006 IEEE Conference on Robotics, Automation and Mechatronics",

booktitle = "2006 IEEE Conference on Robotics, Automation and Mechatronics",

note = "2006 IEEE Conference on Robotics, Automation and Mechatronics ; Conference date: 07-06-2006 Through 09-06-2006",

}

Wang, H, Low, KH & Wang, MY 2006, On the position/force control of robot manipulators with model uncertainty and random disturbances. in 2006 IEEE Conference on Robotics, Automation and Mechatronics., 4018828, 2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, Thailand, 7/06/06. https://doi.org/10.1109/RAMECH.2006.252712

On the position/force control of robot manipulators with model uncertainty and random disturbances. / Wang, Heng; Low, K. H.; Wang, Michael Yu.
2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006. 4018828 (2006 IEEE Conference on Robotics, Automation and Mechatronics).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - On the position/force control of robot manipulators with model uncertainty and random disturbances

AU - Wang, Heng

AU - Low, K. H.

AU - Wang, Michael Yu

PY - 2006

Y1 - 2006

N2 - This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. Computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure.

AB - This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. Computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure.

KW - Impedance control

KW - Joint impedance/direct control

UR - https://www.scopus.com/pages/publications/34547279607

U2 - 10.1109/RAMECH.2006.252712

DO - 10.1109/RAMECH.2006.252712

M3 - Conference Paper published in a book

AN - SCOPUS:34547279607

SN - 1424400244

SN - 9781424400249

T3 - 2006 IEEE Conference on Robotics, Automation and Mechatronics

BT - 2006 IEEE Conference on Robotics, Automation and Mechatronics

T2 - 2006 IEEE Conference on Robotics, Automation and Mechatronics

Y2 - 7 June 2006 through 9 June 2006

ER -

On the position/force control of robot manipulators with model uncertainty and random disturbances

Abstract

Publication series

Conference

Keywords

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