A joint space formulation for compliant motion control of robot manipulators

This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics are derived in this paper, also a joint space hybrid control scheme is proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.

[1]  Joseph Duffy,et al.  The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces , 1990, J. Field Robotics.

[2]  Oussama Khatib,et al.  A general contact model for dynamically-decoupled force/motion control , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Joris De Schutter,et al.  Kinematic Models for Model-Based Compliant Motion in the Presence of Uncertainty , 1995, Int. J. Robotics Res..

[4]  Richard P. Paul,et al.  Nonlinear Stability of Hybrid Control , 1998, Int. J. Robotics Res..

[5]  Zoe Doulgeri,et al.  On the decoupling of position and force controllers in constrained robotic tasks , 1998, J. Field Robotics.

[6]  Joseph Duffy,et al.  Hybrid Twist and Wrench Control for a Robotic Manipulator , 1988 .

[7]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[8]  N. Harris McClamroch,et al.  Feedback Stabilization and Tracking of Constrained Robots , 1987, 1987 American Control Conference.

[9]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[10]  Keith L. Doty,et al.  A Theory of Generalized Inverses Applied to Robotics , 1993, Int. J. Robotics Res..

[11]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force , 1986, IEEE Journal on Robotics and Automation.

[12]  Joris De Schutter,et al.  Specification of force-controlled actions in the "task frame formalism"-a synthesis , 1996, IEEE Trans. Robotics Autom..

[13]  John M. Hollerbach,et al.  The Role of Dynamic Models in Cartesian Force Control of Manipulators , 1989, Int. J. Robotics Res..

[14]  Tetsuro Yabuta,et al.  Nonlinear basic stability concept of the hybrid position/force control scheme for robot manipulators , 1992, IEEE Trans. Robotics Autom..

[15]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[16]  K. Huper,et al.  Optimal trajectory planning of manipulators subject to motion constraints , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[17]  Zexiang Li,et al.  A unified geometric approach to modeling and control of constrained mechanical systems , 2002, IEEE Trans. Robotics Autom..

[18]  Jon M. Selig,et al.  A simple approach to invariant hybrid control , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[19]  Richard P. Paul,et al.  Hybrid control of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[20]  Claudio Bonivento,et al.  On the invariance of the hybrid position/force control , 1990, J. Intell. Robotic Syst..

[21]  Carl D. Meyer,et al.  Matrix Analysis and Applied Linear Algebra , 2000 .

[22]  G. Swaminathan Robot Motion Planning , 2006 .

[23]  Roy Featherstone,et al.  Modeling and control of contact between constrained rigid bodies , 2004, IEEE Transactions on Robotics and Automation.

[24]  Wen-Hong Zhu,et al.  Force control: A bird's eye view , 1998 .

[25]  W. Fisher,et al.  Hybrid Position/Force Control: A Correct Formulation , 1992 .