Nonlinear proportional and derivative control for high disturbance rejection and high gain force control

A non-model-based, nonlinear proportional-and derivative (NPD) controller for high disturbance rejection and high-gain force control is introduced. The controller actively raises the damping and stiffness exponentially when the motion is in an unfavorable direction. Design and analysis are given for a second-order system. Theoretical and experimental comparisons to a conventional proportional-and-derivative (PD) controller show that the NPD controller gives better performance in disturbance rejection for position control and in transient response for high-gain control.<<ETX>>

[1]  Warren P. Seering,et al.  On dynamic models of robot force control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Warren P. Seering,et al.  Modeling robot flexibility for endpoint force control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  Warren P. Seering,et al.  Understanding bandwidth limitations in robot force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[4]  Warren P. Seering,et al.  Three dynamic problems in robot force control , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[5]  Mark W. Spong,et al.  Asymptotic Stability for Force Reflecting Teleoperators with Time Delay , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[6]  Joris De Schutter,et al.  Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[7]  Joris De Schutter,et al.  The role of damping and low pass filtering in the stability of discrete time implemented robot force control , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[8]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .

[9]  Mark W. Spong,et al.  Asymptotic Stability for Force Reflecting Teleoperators with Time Delay , 1992 .

[10]  Chae An,et al.  Dynamic stability issues in force control of manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  Stephen C. Jacobsen,et al.  The UTAH/M.I.T. Dextrous Hand: Work in Progress , 1984 .

[12]  John Kenneth Salisbury,et al.  The Effect of coulomb friction and stiction on force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[13]  Dong Li,et al.  Force control of direct-drive manipulators for surface following , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[14]  Kamal Youcef-Toumi,et al.  Impact and force control , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[15]  Robert J. Anderson,et al.  Dynamic damping control: implementation issues and simulation results , 1990, Proceedings., IEEE International Conference on Robotics and Automation.