Robot multiple contact control

Author:

Park Jaeheung,Khatib Oussama

Abstract

SUMMARYThis paper addresses the problem of contact force control for multiple contacts distributed over multiple links in a robot. This is of importance when performing complex tasks in unstructured environment, particularly in humanoid robot applications. The proposed multicontact control framework provides a new way of defining the operational space coordinates, which facilitates the specification of multiple contact control. The contact force space on multiple links is constructed as an operational space for the highest priority task. Motion control, given lower priority, can be executed using the rest of degree of freedom within the null-space of the force control. The dynamic control structure, then, provides a means to control each contact force and motion independently. This dynamic decoupling enables each contact force controller to utilize linear control theories. In particular, the contact force controllers adopt full state feedback control and estimation methods to produce robust performance with respect to modeling and parameter uncertainties. The effectiveness of the multiple contact control framework was demonstrated using a PUMA560 manipulator, with multiple contacts on the end-effector and third link. The demonstrated tasks involved controlling each of the contact forces with null-space motion.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference30 articles.

1. 29. Yoshikawa T. , “Force Control of Robot Manipulators,” Proceedings of the International Conference on Robotics and Automation San Francisco, USA (2000) pp. 220–226.

2. Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

3. 25. De Schutter J. , Rutgeerts J. , Aertbeliën E. , De Groote F. , De Laet T. , Lefebvre T. , Verdonck W. and Bruyninckx H. , “Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems,” In: Proceedings of the International Conference on Robotics and Automation Barcelona, Spain (2005) pp. 3607–3612.

4. 19. Park J. and Khatib O. , Mult-link Multi-contact Force Control for Manipulators. In Proceedings of the International Conference on Robotics and Automation, Barcelona, Spain (2005) pp. 3613–3618.

5. Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

Cited by 29 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3