On the use of velocity feedback in hybrid force/velocity control of industrial manipulators

This paper deals with the implementation of a hybrid force/velocity control for contour tracking tasks of unknown objects performed by industrial robot manipulators. In particular, we address the problem of the configuration dependent dynamics of the manipulator in constrained motion and we propose a method, based on inertial and stiffness ellipses, that allows to predict the presence of the consequent force oscillations. We also show that these oscillations can be highly reduced by employing an additional normal velocity feedback loop. A large number of experimental results obtained with a two degrees-of-freedom SCARA robot are shown.

[1]  Joris De Schutter,et al.  Model-Based Planar Contour Following in the Presence of Pose and Model Errors , 1997, Int. J. Robotics Res..

[2]  L. W. Tsai,et al.  Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators , 1999 .

[3]  Peter Kazanzides,et al.  Dual-drive force/velocity control: implementation and experimental results , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[4]  Trygve Thomessen,et al.  Robot control system for safe and rapid programming of grinding applications , 2000 .

[5]  Tsuneo Yoshikawa,et al.  Foundations of Robotics: Analysis and Control , 1990 .

[6]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

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

[8]  Paolo Rocco,et al.  On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces , 1995 .

[9]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators-on-line estimation of unknown constraint , 1993, IEEE Trans. Robotics Autom..

[10]  Kegen Yu,et al.  Robotic force/velocity control for following unknown contours of granular materials , 1999 .

[11]  J. De Schutter,et al.  Combined vision/force control at corners in planar robotic contour following , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[12]  Joris De Schutter,et al.  Compliant robot motion: task formulation and control , 1986 .

[13]  Richard Alan Volpe,et al.  Real and Artificial Forces in the Control of Manipulators: Theory and Experiments , 1990 .

[14]  Di Xiao,et al.  Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment , 2000, IEEE Trans. Control. Syst. Technol..

[15]  Paolo Rocco,et al.  Triangular force/position control with application to robotic deburring , 2000 .

[16]  Shaheen Ahmad,et al.  Shape recovery from robot contour-tracking with force feedback , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[17]  Antonio Visioli,et al.  Optimized Dynamic Calibration of a SCARA Robot , 2002 .

[18]  Friedrich Lange,et al.  Iterative self-improvement of force feedback control in contour tracking , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[19]  Robert J. Wood,et al.  Towards a 3g crawling robot through the integration of microrobot technologies , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[20]  Uy-Loi Ly,et al.  Experimental evaluation of a hybrid position and force surface following algorithm for unknown surfaces , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[21]  Gregory P. Starr,et al.  Edge-following with a PUMA 560 manipulator using VAL-II , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[22]  Antonio Visioli,et al.  Hybrid force/velocity robot contour tracking: an experimental analysis of friction compensation strategies , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[23]  Antonio Visioli,et al.  On the trajectory tracking control of industrial SCARA robot manipulators , 2002, IEEE Trans. Ind. Electron..